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rddrone-uavcan146:Board Added

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This commit is contained in:
David Sidrane 2020-02-01 15:02:48 -08:00 committed by Daniel Agar
parent 80ac80b5e4
commit 2193cce50b
21 changed files with 2201 additions and 0 deletions
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1
.ci/Jenkinsfile-compile
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@ -38,6 +38,7 @@ pipeline {
"mro_x21_default", "mro_ctrl-zero-f7_default", "mro_x21-777_default",
"nxp_fmuk66-v3_default",
"nxp_fmurt1062-v1_default",
"nxp_rddrone-uavcan146_default",
"omnibus_f4sd_default",
"px4_fmu-v2_default", "px4_fmu-v2_fixedwing", "px4_fmu-v2_lpe", "px4_fmu-v2_multicopter", "px4_fmu-v2_rover", "px4_fmu-v2_test",
"px4_fmu-v3_default",

4
boards/nxp/rddrone-uavcan146/Kconfig Normal file
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@ -0,0 +1,4 @@
#
# For a description of the syntax of this configuration file,
# see the file kconfig-language.txt in the NuttX tools repository.
#

19
boards/nxp/rddrone-uavcan146/default.cmake Normal file
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@ -0,0 +1,19 @@
px4_add_board(
PLATFORM nuttx
VENDOR nxp
MODEL rddrone-uavcan146
LABEL default
TOOLCHAIN arm-none-eabi
ARCHITECTURE cortex-m4
UAVCAN_INTERFACES 2
DRIVERS
MODULES
SYSTEMCMDS
i2cdetect
EXAMPLES
)

13
boards/nxp/rddrone-uavcan146/firmware.prototype Normal file
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@ -0,0 +1,13 @@
{
"board_id": 10000,
"magic": "PX4FWv1",
"description": "Firmware for the rddrone-uavcan146 board",
"image": "",
"build_time": 0,
"summary": "RDDRONE-UAVCAN146",
"version": "0.1",
"image_size": 0,
"image_maxsize": 0,
"git_identity": "",
"board_revision": 0
}

17
boards/nxp/rddrone-uavcan146/nuttx-config/Kconfig Normal file
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@ -0,0 +1,17 @@
#
# For a description of the syntax of this configuration file,
# see misc/tools/kconfig-language.txt.
#
config BOARD_HAS_PROBES
bool "Board provides GPIO or other Hardware for signaling to timing analyze."
default y
---help---
This board provides GPIO FMU-CH1-6 as PROBE_1-6 to provide timing signals from selected drivers.
config BOARD_USE_PROBES
bool "Enable the use the board provided GPIO FMU-CH1-6 as PROBE_1-6 to provide timing signals from selected drivers"
default n
depends on BOARD_HAS_PROBES
---help---
Select to use GPIO FMU-CH1-6 to provide timing signals from selected drivers.

153
boards/nxp/rddrone-uavcan146/nuttx-config/include/board.h Normal file
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@ -0,0 +1,153 @@
/****************************************************************************
* boards/arm/s32k1xx/rddrone-uavcan146/include/board.h
*
* Copyright (C) 2019 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef __BOARDS_ARM_RDDRONE_UAVCAN146_INCLUDE_BOARD_H
#define __BOARDS_ARM_RDDRONE_UAVCAN146_INCLUDE_BOARD_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#ifndef __ASSEMBLY__
# include <stdint.h>
# include <stdbool.h>
#endif
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* Clocking *****************************************************************/
/* The RDDRONE-UAVCAN146 is fitted with a 8MHz Crystal */
#define BOARD_XTAL_FREQUENCY 8000000
/* The S32K146 will run at 112MHz */
/* LED definitions **********************************************************/
/* The RDDRONE-UAVCAN146 has one RGB LED:
*
* RedLED PTD15 (FTM0 CH0)
* GreenLED PTD16 (FTM0 CH1)
* BlueLED PTD0 (FTM0 CH2)
*
* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in
* any way. The following definitions are used to access individual RGB
* components.
*
* The RGB components could, alternatively be controlled through PWM using
* the common RGB LED driver.
*/
/* LED index values for use with board_userled() */
#define BOARD_LED_R 0
#define BOARD_LED_G 1
#define BOARD_LED_B 2
#define BOARD_NLEDS 3
/* LED bits for use with board_userled_all() */
#define BOARD_LED_R_BIT (1 << BOARD_LED_R)
#define BOARD_LED_G_BIT (1 << BOARD_LED_G)
#define BOARD_LED_B_BIT (1 << BOARD_LED_B)
/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the LEDs on board
* the RDDRONE-UAVCAN146. The following definitions describe how NuttX
* controls the LEDs:
*
* SYMBOL Meaning LED state
* RED GREEN BLUE
* ------------------- ---------------------------- -----------------
*/
#define LED_STARTED 1 /* NuttX has been started OFF OFF OFF */
#define LED_HEAPALLOCATE 2 /* Heap has been allocated OFF OFF ON */
#define LED_IRQSENABLED 0 /* Interrupts enabled OFF OFF ON */
#define LED_STACKCREATED 3 /* Idle stack created OFF ON OFF */
#define LED_INIRQ 0 /* In an interrupt (no change) */
#define LED_SIGNAL 0 /* In a signal handler (no change) */
#define LED_ASSERTION 0 /* An assertion failed (no change) */
#define LED_PANIC 4 /* The system has crashed FLASH OFF OFF */
#undef LED_IDLE /* RDDRONE-UAVCAN146 in sleep mode (Not used) */
/* Button definitions *******************************************************/
/* The RDDRONE-UAVCAN146 supports two buttons:
*
* SW2 PTC12
* SW3 PTC13
*/
#define BUTTON_SW2 0
#define BUTTON_SW3 1
#define NUM_BUTTONS 2
#define BUTTON_SW2_BIT (1 << BUTTON_SW2)
#define BUTTON_SW3_BIT (1 << BUTTON_SW3)
/* Alternate function pin selections ****************************************/
/* By default, the serial console will be provided on the OpenSDA VCOM port:
*
* OpenSDA UART TX PTC7 (LPUART1_TX)
* OpenSDA UART RX PTC6 (LPUART1_RX)
*/
#define PIN_LPUART0_CTS PIN_LPUART0_CTS_2 /* PTC8 */
#define PIN_LPUART0_RTS PIN_LPUART0_RTS_2 /* PTC9 */
#define PIN_LPUART0_RX PIN_LPUART0_RX_1 /* PTB0 */
#define PIN_LPUART0_TX PIN_LPUART0_TX_1 /* PTB1 */
#define PIN_LPUART1_RX PIN_LPUART1_RX_1 /* PTC6 */
#define PIN_LPUART1_TX PIN_LPUART1_TX_1 /* PTC7 */
/* SPI selections ***********************************************************/
#define PIN_LPSPI0_SCK PIN_LPSPI0_SCK_2 /* PTB2 */
#define PIN_LPSPI0_MISO PIN_LPSPI0_SIN_2 /* PTB3 */
#define PIN_LPSPI0_MOSI PIN_LPSPI0_SOUT_3 /* PTB4 */
#define PIN_LPSPI0_PCS PIN_LPSPI0_PCS0_2 /* PTB5 */
/* I2C selections ***********************************************************/
#define PIN_LPI2C0_SCL PIN_LPI2C0_SCL_2 /* PTA3 */
#define PIN_LPI2C0_SDA PIN_LPI2C0_SDA_2 /* PTA2 */
#endif /* __BOARDS_ARM_RDDRONE_UAVCAN146_INCLUDE_BOARD_H */

74
boards/nxp/rddrone-uavcan146/nuttx-config/nsh/defconfig Normal file
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@ -0,0 +1,74 @@
#
# This file is autogenerated: PLEASE DO NOT EDIT IT.
#
# You can use "make menuconfig" to make any modifications to the installed .config file.
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
# modifications.
#
# CONFIG_ARCH_FPU is not set
# CONFIG_NSH_ARGCAT is not set
# CONFIG_NSH_CMDOPT_HEXDUMP is not set
# CONFIG_NSH_CMDPARMS is not set
CONFIG_ARCH="arm"
CONFIG_ARCH_BOARD_CUSTOM=y
CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
CONFIG_ARCH_CHIP="s32k1xx"
CONFIG_ARCH_CHIP_S32K146=y
CONFIG_ARCH_CHIP_S32K14X=y
CONFIG_ARCH_CHIP_S32K1XX=y
CONFIG_ARCH_STACKDUMP=y
CONFIG_BOARDCTL_RESET=y
CONFIG_BOARD_LOOPSPERMSEC=3997
CONFIG_BUILTIN=y
CONFIG_DEBUG_SYMBOLS=y
CONFIG_EXAMPLES_HELLO=y
CONFIG_FS_PROCFS=y
CONFIG_HAVE_CXX=y
CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_I2C=y
CONFIG_I2CTOOL_DEFFREQ=100000
CONFIG_I2CTOOL_MAXADDR=0x7f
CONFIG_I2CTOOL_MAXBUS=0
CONFIG_I2CTOOL_MINADDR=0x00
CONFIG_INTELHEX_BINARY=y
CONFIG_LPUART0_RXBUFSIZE=64
CONFIG_LPUART0_TXBUFSIZE=64
CONFIG_LPUART1_RXBUFSIZE=64
CONFIG_LPUART1_SERIAL_CONSOLE=y
CONFIG_LPUART1_TXBUFSIZE=64
CONFIG_MAX_TASKS=16
CONFIG_MAX_WDOGPARMS=2
CONFIG_MOTOROLA_SREC=y
CONFIG_NFILE_DESCRIPTORS=8
CONFIG_NFILE_STREAMS=8
CONFIG_NSH_ARCHINIT=y
CONFIG_NSH_BUILTIN_APPS=y
CONFIG_NSH_FILEIOSIZE=512
CONFIG_NSH_READLINE=y
CONFIG_PREALLOC_MQ_MSGS=4
CONFIG_PREALLOC_TIMERS=4
CONFIG_PREALLOC_WDOGS=16
CONFIG_RAM_SIZE=126976
CONFIG_RAM_START=0x1fff0000
CONFIG_RAW_BINARY=y
CONFIG_RR_INTERVAL=200
CONFIG_S32K1XX_LPI2C0=y
CONFIG_S32K1XX_LPSPI0=y
CONFIG_S32K1XX_LPUART0=y
CONFIG_S32K1XX_LPUART1=y
CONFIG_SCHED_WAITPID=y
CONFIG_SDCLONE_DISABLE=y
CONFIG_SPITOOL_DEFFREQ=400000
CONFIG_SPITOOL_MAXBUS=0
CONFIG_SPITOOL_PROGNAME="spi"
CONFIG_START_DAY=18
CONFIG_START_MONTH=8
CONFIG_START_YEAR=2019
CONFIG_STDIO_DISABLE_BUFFERING=y
CONFIG_SYMTAB_ORDEREDBYNAME=y
CONFIG_SYSTEM_I2CTOOL=y
CONFIG_SYSTEM_NSH=y
CONFIG_SYSTEM_SPITOOL=y
CONFIG_USER_ENTRYPOINT="nsh_main"

58
boards/nxp/rddrone-uavcan146/nuttx-config/scripts/s32k146.cfg Normal file
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@ -0,0 +1,58 @@
#
# NXP S32K146 - 1x ARM Cortex-M4 @ up to 180 MHz
#
adapter_khz 4000
transport select swd
if { [info exists CHIPNAME] } {
set _CHIPNAME $CHIPNAME
} else {
set _CHIPNAME s32k146
}
#
# M4 JTAG mode TAP
#
if { [info exists M4_JTAG_TAPID] } {
set _M4_JTAG_TAPID $M4_JTAG_TAPID
} else {
set _M4_JTAG_TAPID 0x4ba00477
}
#
# M4 SWD mode TAP
#
if { [info exists M4_SWD_TAPID] } {
set _M4_SWD_TAPID $M4_SWD_TAPID
} else {
set _M4_SWD_TAPID 0x2ba01477
}
source [find target/swj-dp.tcl]
if { [using_jtag] } {
set _M4_TAPID $_M4_JTAG_TAPID
} else {
set _M4_TAPID $_M4_SWD_TAPID
}
swj_newdap $_CHIPNAME m4 -irlen 4 -ircapture 0x1 -irmask 0xf \
-expected-id $_M4_TAPID
target create $_CHIPNAME.m4 cortex_m -chain-position $_CHIPNAME.m4
# S32K146 has 64+60 KB contiguous SRAM
if { [info exists WORKAREASIZE] } {
set _WORKAREASIZE $WORKAREASIZE
} else {
set _WORKAREASIZE 0x1F000
}
$_CHIPNAME.m4 configure -work-area-phys 0x1FFF0000 \
-work-area-size $_WORKAREASIZE -work-area-backup 0
$_CHIPNAME.m4 configure -rtos nuttx
if { ![using_hla] } {
cortex_m reset_config vectreset
}

152
boards/nxp/rddrone-uavcan146/nuttx-config/scripts/script.ld Normal file
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@ -0,0 +1,152 @@
/****************************************************************************
* boards/arm/s32k1xx/rddrone-uavcan146/scripts/flash.ld
*
* Copyright (C) 2019 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/* The S32K146 has 1Mb of FLASH beginning at address 0x0000:0000 and
* 124Kb of SRAM beginning at address 0x1fff:0000 (plus 4Kb of FlexRAM)
*
* The on-chip RAM is split in two regions: SRAM_L and SRAM_U. The RAM is
* implemented such that the SRAM_L and SRAM_U ranges form a contiguous
* block in the memory map
*
* SRAM_L 1fff0000 - 1fffffff 64Kb
* SRAM_U 20000000 - 2000efff 60Kb
*/
MEMORY
{
vflash (rx) : ORIGIN = 0x00000000, LENGTH = 1K
pflash (rx) : ORIGIN = 0x00000400, LENGTH = 16
dflash (rx) : ORIGIN = 0x00000410, LENGTH = 1023K-16
sram (rwx) : ORIGIN = 0x1fff0000, LENGTH = 124K
}
OUTPUT_ARCH(arm)
EXTERN(_vectors)
EXTERN(g_flashcfg)
ENTRY(_stext)
SECTIONS
{
.vectors :
{
_stext = ABSOLUTE(.);
*(.vectors)
} > vflash
.flashcfg :
{
*(.flashcfg)
} > pflash
.text :
{
*(.text .text.*)
*(.fixup)
*(.gnu.warning)
*(.rodata .rodata.*)
*(.gnu.linkonce.t.*)
*(.glue_7)
*(.glue_7t)
*(.got)
*(.gcc_except_table)
*(.gnu.linkonce.r.*)
_etext = ABSOLUTE(.);
} > dflash
.init_section :
{
_sinit = ABSOLUTE(.);
*(.init_array .init_array.*)
_einit = ABSOLUTE(.);
} > dflash
.ARM.extab :
{
*(.ARM.extab*)
} >dflash
.ARM.exidx :
{
__exidx_start = ABSOLUTE(.);
*(.ARM.exidx*)
__exidx_end = ABSOLUTE(.);
} >dflash
.data :
{
_sdata = ABSOLUTE(.);
*(.data .data.*)
*(.gnu.linkonce.d.*)
CONSTRUCTORS
. = ALIGN(4);
_edata = ABSOLUTE(.);
} > sram AT > dflash
_eronly = LOADADDR(.data);
.ramfunc ALIGN(4):
{
_sramfuncs = ABSOLUTE(.);
*(.ramfunc .ramfunc.*)
_eramfuncs = ABSOLUTE(.);
} > sram AT > dflash
_framfuncs = LOADADDR(.ramfunc);
.bss :
{
_sbss = ABSOLUTE(.);
*(.bss .bss.*)
*(.gnu.linkonce.b.*)
*(COMMON)
. = ALIGN(4);
_ebss = ABSOLUTE(.);
} > sram
/* Stabs debugging sections. */
.stab 0 : { *(.stab) }
.stabstr 0 : { *(.stabstr) }
.stab.excl 0 : { *(.stab.excl) }
.stab.exclstr 0 : { *(.stab.exclstr) }
.stab.index 0 : { *(.stab.index) }
.stab.indexstr 0 : { *(.stab.indexstr) }
.comment 0 : { *(.comment) }
.debug_abbrev 0 : { *(.debug_abbrev) }
.debug_info 0 : { *(.debug_info) }
.debug_line 0 : { *(.debug_line) }
.debug_pubnames 0 : { *(.debug_pubnames) }
.debug_aranges 0 : { *(.debug_aranges) }
}

129
boards/nxp/rddrone-uavcan146/nuttx-config/scripts/sram.ld Normal file
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@ -0,0 +1,129 @@
/****************************************************************************
* boards/arm/s32k1xx/rddrone-uavcan146/scripts/sram.ld
*
* Copyright (C) 2019 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/* The S32K146 has 1Mb of FLASH beginning at address 0x0000:0000 and
* 124Kb of SRAM beginning at address 0x1fff:0000 (plus 4Kb of FlexRAM)
*
* The on-chip RAM is split in two regions: SRAM_L and SRAM_U. The RAM is
* implemented such that the SRAM_L and SRAM_U ranges form a contiguous
* block in the memory map
*
* SRAM_L 1fff0000 - 1fffffff 64Kb
* SRAM_U 20000000 - 2000efff 60Kb
*/
MEMORY
{
flash (rx) : ORIGIN = 0x00000000, LENGTH = 1M
sram (rwx) : ORIGIN = 0x1fff0000, LENGTH = 124K
}
OUTPUT_ARCH(arm)
EXTERN(_vectors)
ENTRY(_stext)
SECTIONS
{
.text :
{
_stext = ABSOLUTE(.);
*(.vectors)
*(.text .text.*)
*(.fixup)
*(.gnu.warning)
*(.rodata .rodata.*)
*(.gnu.linkonce.t.*)
*(.glue_7)
*(.glue_7t)
*(.got)
*(.gcc_except_table)
*(.gnu.linkonce.r.*)
_etext = ABSOLUTE(.);
} > sram
.init_section :
{
_sinit = ABSOLUTE(.);
*(.init_array .init_array.*)
_einit = ABSOLUTE(.);
} > sram
.ARM.extab :
{
*(.ARM.extab*)
} >sram
.ARM.exidx :
{
__exidx_start = ABSOLUTE(.);
*(.ARM.exidx*)
__exidx_end = ABSOLUTE(.);
} >sram
.data :
{
_sdata = ABSOLUTE(.);
*(.data .data.*)
*(.gnu.linkonce.d.*)
CONSTRUCTORS
. = ALIGN(4);
_edata = ABSOLUTE(.);
} > sram
.bss :
{
_sbss = ABSOLUTE(.);
*(.bss .bss.*)
*(.gnu.linkonce.b.*)
*(COMMON)
. = ALIGN(4);
_ebss = ABSOLUTE(.);
} > sram
/* Stabs debugging sections. */
.stab 0 : { *(.stab) }
.stabstr 0 : { *(.stabstr) }
.stab.excl 0 : { *(.stab.excl) }
.stab.exclstr 0 : { *(.stab.exclstr) }
.stab.index 0 : { *(.stab.index) }
.stab.indexstr 0 : { *(.stab.indexstr) }
.comment 0 : { *(.comment) }
.debug_abbrev 0 : { *(.debug_abbrev) }
.debug_info 0 : { *(.debug_info) }
.debug_line 0 : { *(.debug_line) }
.debug_pubnames 0 : { *(.debug_pubnames) }
.debug_aranges 0 : { *(.debug_aranges) }
}

52
boards/nxp/rddrone-uavcan146/src/CMakeLists.txt Normal file
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@ -0,0 +1,52 @@
############################################################################
#
# Copyright (c) 2016, 2018 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
add_library(drivers_board
autoleds.c
boot.c
bringup.c
buttons.c
clockconfig.c
init.c
periphclocks.c
spi.c
userleds.c
)
target_link_libraries(drivers_board
PRIVATE
nuttx_arch # sdio
nuttx_drivers # sdio
drivers__led # drv_led_start
px4_layer
)

162
boards/nxp/rddrone-uavcan146/src/autoleds.c Normal file
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@ -0,0 +1,162 @@
/****************************************************************************
* boards/arm/s32k1xx/rddrone-uavcan146/src/s32k1xx_autoleds.c
*
* Copyright (C) 2019 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/* The RDDRONE-UAVCAN146 has one RGB LED:
*
* RedLED PTD15 (FTM0 CH0)
* GreenLED PTD16 (FTM0 CH1)
* BlueLED PTD0 (FTM0 CH2)
*
* An output of '1' illuminates the LED.
*
* If CONFIG_ARCH_LEDs is defined, then NuttX will control the LED on board
* the Freedom K66F. The following definitions describe how NuttX controls
* the LEDs:
*
* SYMBOL Meaning LED state
* RED GREEN BLUE
* ------------------- ----------------------- -----------------
* LED_STARTED NuttX has been started OFF OFF OFF
* LED_HEAPALLOCATE Heap has been allocated OFF OFF ON
* LED_IRQSENABLED Interrupts enabled OFF OFF ON
* LED_STACKCREATED Idle stack created OFF ON OFF
* LED_INIRQ In an interrupt (no change)
* LED_SIGNAL In a signal handler (no change)
* LED_ASSERTION An assertion failed (no change)
* LED_PANIC The system has crashed FLASH OFF OFF
* LED_IDLE K66 is in sleep mode (Optional, not used)
*/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <nuttx/board.h>
#include <arch/board/board.h>
#include "up_arch.h"
#include "up_internal.h"
#include "s32k1xx_pin.h"
#include "board_config.h"
#include <arch/board/board.h>
#ifdef CONFIG_ARCH_LEDS
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* Summary of all possible settings */
#define LED_NOCHANGE 0 /* LED_IRQSENABLED, LED_INIRQ, LED_SIGNAL, LED_ASSERTION */
#define LED_OFF_OFF_OFF 1 /* LED_STARTED */
#define LED_OFF_OFF_ON 2 /* LED_HEAPALLOCATE */
#define LED_OFF_ON_OFF 3 /* LED_STACKCREATED */
#define LED_ON_OFF_OFF 4 /* LED_PANIC */
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: board_autoled_initialize
****************************************************************************/
void board_autoled_initialize(void)
{
/* Configure LED GPIOs for output */
s32k1xx_pinconfig(GPIO_LED_R);
s32k1xx_pinconfig(GPIO_LED_G);
s32k1xx_pinconfig(GPIO_LED_B);
}
/****************************************************************************
* Name: board_autoled_on
****************************************************************************/
void board_autoled_on(int led)
{
if (led != LED_NOCHANGE) {
bool redon = false;
bool greenon = false;
bool blueon = false;
switch (led) {
default:
case LED_OFF_OFF_OFF:
break;
case LED_OFF_OFF_ON:
blueon = true;
break;
case LED_OFF_ON_OFF:
greenon = true;
break;
case LED_ON_OFF_OFF:
redon = true;
break;
}
s32k1xx_gpiowrite(GPIO_LED_R, redon);
s32k1xx_gpiowrite(GPIO_LED_G, greenon);
s32k1xx_gpiowrite(GPIO_LED_B, blueon);
}
}
/****************************************************************************
* Name: board_autoled_off
****************************************************************************/
void board_autoled_off(int led)
{
if (led == LED_ON_OFF_OFF) {
s32k1xx_gpiowrite(GPIO_LED_R, true);
s32k1xx_gpiowrite(GPIO_LED_G, false);
s32k1xx_gpiowrite(GPIO_LED_B, false);
}
}
#endif /* CONFIG_ARCH_LEDS */

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/****************************************************************************
*
*
* Copyright (C) 2019 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file board_config.h
*
* NXP rddrone-uavcan146 internal definitions
*/
#pragma once
/****************************************************************************
* Included Files
****************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
__BEGIN_DECLS
/* these headers are not C++ safe */
#include "hardware/s32k1xx_pinmux.h"
#include "s32k1xx_periphclocks.h"
#include <arch/board/board.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* RDDRONE-UAVCAN146 GPIOs **************************************************/
/* LEDs. The RDDRONE-UAVCAN146 has one RGB LED:
*
* RedLED PTD15 (FTM0 CH0)
* GreenLED PTD16 (FTM0 CH1)
* BlueLED PTD0 (FTM0 CH2)
*
* An output of '1' illuminates the LED.
*/
#define GPIO_LED_R (PIN_PTD15 | GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO)
#define GPIO_LED_G (PIN_PTD16 | GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO)
#define GPIO_LED_B (PIN_PTD0 | GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO)
/* Buttons. The RDDRONE-UAVCAN146 supports two buttons:
*
* SW2 PTC12
* SW3 PTC13
*/
#define GPIO_SW2 (PIN_PTC12 | PIN_INT_BOTH)
#define GPIO_SW3 (PIN_PTC13 | PIN_INT_BOTH)
/* SPI chip selects */
/* Count of peripheral clock user configurations */
#define NUM_OF_PERIPHERAL_CLOCKS_0 15
/* I2C busses */
#define PX4_I2C_BUS_ONBOARD PX4_BUS_NUMBER_TO_PX4(1)
#define PX4_I2C_BUS_EXPANSION PX4_BUS_NUMBER_TO_PX4(0)
/****************************************************************************
* Public Types
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
#ifndef __ASSEMBLY__
/* User peripheral configuration structure 0 */
extern const struct peripheral_clock_config_s g_peripheral_clockconfig0[];
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
/****************************************************************************
* Name: s32k1xx_bringup
*
* Description:
* Perform architecture-specific initialization
*
* CONFIG_BOARD_LATE_INITIALIZE=y :
* Called from board_late_initialize().
*
* CONFIG_BOARD_LATE_INITIALIZE=y && CONFIG_LIB_BOARDCTL=y :
* Called from the NSH library
*
****************************************************************************/
int s32k1xx_bringup(void);
/****************************************************************************
* Name: s32k1xx_spidev_initialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the RDDRONE-UAVCAN146
* board.
*
****************************************************************************/
#ifdef CONFIG_S32K1XX_LPSPI
void s32k1xx_spidev_initialize(void);
#endif
#include <px4_platform_common/board_common.h>
#endif /* __ASSEMBLY__ */
__END_DECLS

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/****************************************************************************
* boards/arm/s32k1xx/rddrone-uavcan146/src/s32k1xx_boot.c
*
* Copyright (C) 2019 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <px4_platform/gpio.h>
#include <debug.h>
#include <nuttx/board.h>
#include "board_config.h"
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: s32k1xx_board_initialize
*
* Description:
* All S32K1XX architectures must provide the following entry point. This
* entry point is called early in the initialization -- after all memory
* has been configured and mapped but before any devices have been
* initialized.
*
****************************************************************************/
void s32k1xx_board_initialize(void)
{
#ifdef CONFIG_ARCH_LEDS
/* Configure on-board LEDs if LED support has been selected. */
board_autoled_initialize();
#endif
}
/****************************************************************************
* Name: board_late_initialize
*
* Description:
* If CONFIG_BOARD_LATE_INITIALIZE is selected, then an additional
* initialization call will be performed in the boot-up sequence to a
* function called board_late_initialize(). board_late_initialize() will
* be called immediately after up_initialize() is called and just before
* the initial application is started. This additional initialization
* phase may be used, for example, to initialize board-specific device
* drivers.
*
****************************************************************************/
#ifdef CONFIG_BOARD_LATE_INITIALIZE
void board_late_initialize(void)
{
/* Perform board-specific initialization */
s32k1xx_bringup();
}
#endif

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/****************************************************************************
* boards/arm/s32k1xx/rddrone-uavcan146/src/s32k1xx_bringup.c
*
* Copyright (C) 2019 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <sys/mount.h>
#include <syslog.h>
#ifdef CONFIG_BUTTONS
# include <nuttx/input/buttons.h>
#endif
#ifdef CONFIG_USERLED
# include <nuttx/leds/userled.h>
#endif
#ifdef CONFIG_I2C_DRIVER
# include "s32k1xx_pin.h"
# include <nuttx/i2c/i2c_master.h>
# include "s32k1xx_lpi2c.h"
#endif
#include "board_config.h"
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: s32k1xx_bringup
*
* Description:
* Perform architecture-specific initialization
*
* CONFIG_BOARD_LATE_INITIALIZE=y :
* Called from board_late_initialize().
*
* CONFIG_BOARD_LATE_INITIALIZE=n && CONFIG_LIB_BOARDCTL=y :
* Called from the NSH library
*
****************************************************************************/
int s32k1xx_bringup(void)
{
int ret = OK;
#ifdef CONFIG_BUTTONS
/* Register the BUTTON driver */
ret = btn_lower_initialize("/dev/buttons");
if (ret < 0) {
syslog(LOG_ERR, "ERROR: btn_lower_initialize() failed: %d\n", ret);
}
#endif
#ifdef CONFIG_USERLED
/* Register the LED driver */
ret = userled_lower_initialize("/dev/userleds");
if (ret < 0) {
syslog(LOG_ERR, "ERROR: userled_lower_initialize() failed: %d\n", ret);
}
#endif
#ifdef CONFIG_FS_PROCFS
/* Mount the procfs file system */
ret = mount(NULL, "/proc", "procfs", 0, NULL);
if (ret < 0) {
syslog(LOG_ERR, "ERROR: Failed to mount procfs at /proc: %d\n", ret);
}
#endif
#ifdef CONFIG_S32K1XX_LPSPI
/* Configure SPI chip selects if 1) SPI is not disabled, and 2) the weak
* function s32k1xx_spidev_initialize() has been brought into the link.
*/
s32k1xx_spidev_initialize();
#endif
#if defined(CONFIG_S32K1XX_LPI2C0)
#if defined(CONFIG_I2C_DRIVER)
FAR struct i2c_master_s *i2c;
i2c = s32k1xx_i2cbus_initialize(0);
if (i2c == NULL) {
serr("ERROR: Failed to get I2C%d interface\n", bus);
} else {
ret = i2c_register(i2c, 0);
if (ret < 0) {
serr("ERROR: Failed to register I2C%d driver: %d\n", bus, ret);
s32k1xx_i2cbus_uninitialize(i2c);
}
}
#endif
#endif
return ret;
}

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/****************************************************************************
* boards/arm/s32k1xx/rddrone-uavcan146/src/s32k1xx_buttons.c
*
* Copyright (C) 2019 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/* The RDDRONE-UAVCAN146 supports two buttons:
*
* SW2 PTC12
* SW3 PTC13
*/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdint.h>
#include <errno.h>
#include <nuttx/arch.h>
#include <nuttx/board.h>
#include "s32k1xx_pin.h"
#include "board_config.h"
#include <arch/board/board.h>
#ifdef CONFIG_ARCH_BUTTONS
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: board_button_initialize
*
* Description:
* board_button_initialize() must be called to initialize button resources.
* After that, board_buttons() may be called to collect the current state
* of all buttons or board_button_irq() may be called to register button
* interrupt handlers.
*
****************************************************************************/
void board_button_initialize(void)
{
/* Configure the GPIO pins as interrupting inputs. */
s32k1xx_pinconfig(GPIO_SW2);
s32k1xx_pinconfig(GPIO_SW3);
}
/****************************************************************************
* Name: board_buttons
****************************************************************************/
uint32_t board_buttons(void)
{
uint32_t ret = 0;
if (s32k1xx_gpioread(GPIO_SW2)) {
ret |= BUTTON_SW2_BIT;
}
if (s32k1xx_gpioread(GPIO_SW3)) {
ret |= BUTTON_SW3_BIT;
}
return ret;
}
/****************************************************************************
* Button support.
*
* Description:
* board_button_initialize() must be called to initialize button resources.
* After that, board_buttons() may be called to collect the current state
* of all buttons or board_button_irq() may be called to register button
* interrupt handlers.
*
* After board_button_initialize() has been called, board_buttons() may be
* called to collect the state of all buttons. board_buttons() returns a
* 32-bit bit set with each bit associated with a button. See the
* BUTTON_*_BIT definitions in board.h for the meaning of each bit.
*
* board_button_irq() may be called to register an interrupt handler that
* will be called when a button is depressed or released. The ID value is
* a button enumeration value that uniquely identifies a button resource.
* See the BUTTON_* definitions in board.h for the meaning of enumeration
* value.
*
****************************************************************************/
#ifdef CONFIG_ARCH_IRQBUTTONS
int board_button_irq(int id, xcpt_t irqhandler, FAR void *arg)
{
uint32_t pinset;
int ret;
/* Map the button id to the GPIO bit set. */
if (id == BUTTON_SW2) {
pinset = GPIO_SW2;
} else if (id == BUTTON_SW3) {
pinset = GPIO_SW3;
} else {
return -EINVAL;
}
/* The button has already been configured as an interrupting input (by
* board_button_initialize() above).
*
* Attach the new button handler.
*/
ret = s32k1xx_pinirqattach(pinset, irqhandler, NULL);
if (ret >= 0) {
/* Then make sure that interrupts are enabled on the pin */
s32k1xx_pinirqenable(pinset);
}
return ret;
}
#endif
#endif /* CONFIG_ARCH_BUTTONS */

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/****************************************************************************
* boards/arm/s32k1xx/rddrone-uavcan146/src/s32k1xx_clockconfig.c
*
* Copyright (C) 2019 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Most of the settings within this file derives from NXP sample code for
* the S32K1XX MCUs. That sample code has this licensing information:
*
* Copyright (c) 2013 - 2015, Freescale Semiconductor, Inc.
* Copyright 2016-2018 NXP
* All rights reserved.
*
* THIS SOFTWARE IS PROVIDED BY NXP "AS IS" AND ANY EXPRESSED OR
* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
* OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
* IN NO EVENT SHALL NXP OR ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
* INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF
* THE POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdint.h>
#include <stdbool.h>
#include "s32k1xx_clockconfig.h"
#include "s32k1xx_start.h"
#include "board_config.h"
/****************************************************************************
* Public Data
****************************************************************************/
/* Each S32K1XX board must provide the following initialized structure.
* This is needed to establish the initial board clocking.
*/
const struct clock_configuration_s g_initial_clkconfig = {
.scg =
{
.sirc =
{
.range = SCG_SIRC_RANGE_HIGH, /* RANGE - High range (8 MHz) */
.div1 = SCG_ASYNC_CLOCK_DIV_BY_1, /* SIRCDIV1 */
.div2 = SCG_ASYNC_CLOCK_DIV_BY_1, /* SIRCDIV2 */
.initialize = true, /* Initialize */
.stopmode = true, /* SIRCSTEN */
.lowpower = true, /* SIRCLPEN */
.locked = false, /* LK */
},
.firc =
{
.range = SCG_FIRC_RANGE_48M, /* RANGE */
.div1 = SCG_ASYNC_CLOCK_DIV_BY_1, /* FIRCDIV1 */
.div2 = SCG_ASYNC_CLOCK_DIV_BY_1, /* FIRCDIV2 */
.initialize = true, /* Initialize */
.stopmode = false, /* */
.lowpower = false, /* */
.regulator = true, /* FIRCREGOFF */
.locked = false, /* LK */
},
.sosc =
{
.mode = SCG_SOSC_MONITOR_DISABLE, /* SOSCCM */
.gain = SCG_SOSC_GAIN_LOW, /* HGO */
.range = SCG_SOSC_RANGE_MID, /* RANGE */
.extref = SCG_SOSC_REF_OSC, /* EREFS */
.div1 = SCG_ASYNC_CLOCK_DIV_BY_1, /* SOSCDIV1 */
.div2 = SCG_ASYNC_CLOCK_DIV_BY_1, /* SOSCDIV2 */
.initialize = true, /* Initialize */
.stopmode = false, /* */
.lowpower = false, /* */
.locked = false, /* LK */
},
.spll =
{
.mode = SCG_SPLL_MONITOR_DISABLE, /* SPLLCM */
.div1 = SCG_ASYNC_CLOCK_DIV_BY_1, /* SPLLDIV1 */
.div2 = SCG_ASYNC_CLOCK_DIV_BY_1, /* SPLLDIV2 */
.prediv = 1, /* PREDIV */
.mult = 40, /* MULT */
.src = 0, /* SOURCE */
.initialize = true, /* Initialize */
.stopmode = false, /* */
.locked = false, /* LK */
},
.rtc =
{
.initialize = true, /* Initialize */
.clkin = 0 /* RTC_CLKIN */
},
.clockout =
{
.source = SCG_CLOCKOUT_SRC_FIRC, /* SCG CLKOUTSEL */
.initialize = true, /* Initialize */
},
.clockmode =
{
.rccr = /* RCCR - Run Clock Control Register */
{
.src = SCG_SYSTEM_CLOCK_SRC_SYS_PLL, /* SCS */
.divslow = 3, /* DIVSLOW, range 1..16 */
.divbus = 2, /* DIVBUS, range 1..16 */
.divcore = 2 /* DIVCORE, range 1..16 */
},
.vccr = /* VCCR - VLPR Clock Control Register */
{
.src = SCG_SYSTEM_CLOCK_SRC_SIRC, /* SCS */
.divslow = 4, /* DIVSLOW, range 1..16 */
.divbus = 1, /* DIVBUS, range 1..16 */
.divcore = 2 /* DIVCORE, range 1..16 */
},
.hccr =
{
.src = SCG_SYSTEM_CLOCK_SRC_SYS_PLL, /* SCS */
.divslow = 3, /* DIVSLOW, range 1..16 */
.divbus = 2, /* DIVBUS, range 1..16 */
.divcore = 2 /* DIVCORE, range 1..16 */
},
/* .altclk */
.initialize = true, /* Initialize */
},
},
.sim =
{
.clockout = /* Clock Out configuration. */
{
.source = SIM_CLKOUT_SEL_SYSTEM_SCG_CLKOUT, /* CLKOUTSEL */
.divider = 1, /* CLKOUTDIV, range 1..8 */
.initialize = true, /* Initialize */
.enable = false, /* CLKOUTEN */
},
.lpoclk = /* Low Power Clock configuration. */
{
.rtc_source = SIM_RTCCLK_SEL_SOSCDIV1_CLK, /* RTCCLKSEL */
.lpo_source = SIM_LPO_CLK_SEL_LPO_128K, /* LPOCLKSEL */
.initialize = true, /* Initialize */
.lpo32k = true, /* LPO32KCLKEN */
.lpo1k = true, /* LPO1KCLKEN */
},
.tclk = /* TCLK CLOCK configuration. */
{
.tclkfreq[0] = 0, /* TCLK0 */
.tclkfreq[1] = 0, /* TCLK1 */
.tclkfreq[2] = 0, /* TCLK2 */
.initialize = true, /* Initialize */
},
.platgate = /* Platform Gate Clock configuration. */
{
.initialize = true, /* Initialize */
.mscm = true, /* CGCMSCM */
.mpu = true, /* CGCMPU */
.dma = true, /* CGCDMA */
.erm = true, /* CGCERM */
.eim = true, /* CGCEIM */
},
.traceclk = /* Debug trace Clock Configuration. */
{
.source = CLOCK_TRACE_SRC_CORE_CLK, /* TRACECLK_SEL */
.divider = 1, /* TRACEDIV, range 1..8 */
.initialize = true, /* Initialize */
.enable = true, /* TRACEDIVEN */
.fraction = false, /* TRACEFRAC */
},
#ifdef CONFIG_S32K1XX_HAVE_QSPI
.qspirefclk = /* Quad Spi Internal Reference Clock Gating. */
{
.refclk = false, /* Qspi reference clock gating */
},
#endif
},
.pcc =
{
.count = NUM_OF_PERIPHERAL_CLOCKS_0, /* Number peripheral clock configurations */
.pclks = g_peripheral_clockconfig0 /* Peripheral clock configurations */
},
.pmc =
{
.lpoclk = /* Low Power Clock configuration. */
{
.trim = 0, /* Trimming value for LPO */
.initialize = true, /* Initialize */
.enable = true, /* Enable/disable LPO */
},
}
};

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/****************************************************************************
* boards/arm/s32k1xx/rddrone-uavcan146/src/s32k1xx_appinit.c
*
* Copyright (C) 2019 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <nuttx/board.h>
#include "board_config.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#ifndef OK
# define OK 0
#endif
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: board_app_initialize
*
* Description:
* Perform application specific initialization. This function is never
* called directly from application code, but only indirectly via the
* (non-standard) boardctl() interface using the command BOARDIOC_INIT.
*
* Input Parameters:
* arg - The boardctl() argument is passed to the board_app_initialize()
* implementation without modification. The argument has no
* meaning to NuttX; the meaning of the argument is a contract
* between the board-specific initialization logic and the
* matching application logic. The value cold be such things as a
* mode enumeration value, a set of DIP switch switch settings, a
* pointer to configuration data read from a file or serial FLASH,
* or whatever you would like to do with it. Every implementation
* should accept zero/NULL as a default configuration.
*
* Returned Value:
* Zero (OK) is returned on success; a negated errno value is returned on
* any failure to indicate the nature of the failure.
*
****************************************************************************/
int board_app_initialize(uintptr_t arg)
{
#ifdef CONFIG_BOARD_LATE_INITIALIZE
/* Board initialization already performed by board_late_initialize() */
return OK;
#else
/* Perform board-specific initialization */
return s32k1xx_bringup();
#endif
}

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/****************************************************************************
* boards/arm/s32k1xx/rddrone-uavcan146/src/s32k1xx_periphclks.c
*
* Copyright (C) 2019 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Most of the settings within this file derives from NXP sample code for
* the S32K1XX MCUs. That sample code has this licensing information:
*
* Copyright (c) 2013 - 2015, Freescale Semiconductor, Inc.
* Copyright 2016-2018 NXP
* All rights reserved.
*
* THIS SOFTWARE IS PROVIDED BY NXP "AS IS" AND ANY EXPRESSED OR
* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
* OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
* IN NO EVENT SHALL NXP OR ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
* INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF
* THE POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include "s32k1xx_periphclocks.h"
#include "board_config.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
/* Each S32K1XX board must provide the following initialized structure.
* This is needed to establish the initial peripheral clocking.
*/
const struct peripheral_clock_config_s g_peripheral_clockconfig0[] = {
{
.clkname = ADC0_CLK,
.clkgate = true,
.clksrc = CLK_SRC_FIRC,
.frac = MULTIPLY_BY_ONE,
.divider = 1,
},
{
.clkname = ADC1_CLK,
.clkgate = true,
.clksrc = CLK_SRC_FIRC,
.frac = MULTIPLY_BY_ONE,
.divider = 1,
},
{
.clkname = LPI2C0_CLK,
.clkgate = true,
.clksrc = CLK_SRC_SIRC,
.frac = MULTIPLY_BY_ONE,
.divider = 1,
},
{
.clkname = LPSPI0_CLK,
.clkgate = true,
.clksrc = CLK_SRC_SIRC,
.frac = MULTIPLY_BY_ONE,
.divider = 1,
},
{
.clkname = LPSPI1_CLK,
.clkgate = false,
.clksrc = CLK_SRC_FIRC,
.frac = MULTIPLY_BY_ONE,
.divider = 1,
},
{
.clkname = LPSPI2_CLK,
.clkgate = false,
.clksrc = CLK_SRC_FIRC,
.frac = MULTIPLY_BY_ONE,
.divider = 1,
},
{
.clkname = LPTMR0_CLK,
.clkgate = true,
.clksrc = CLK_SRC_SIRC,
.frac = MULTIPLY_BY_ONE,
.divider = 1,
},
{
.clkname = LPUART0_CLK,
.clkgate = true,
.clksrc = CLK_SRC_SIRC,
.frac = MULTIPLY_BY_ONE,
.divider = 1,
},
{
.clkname = LPUART1_CLK,
.clkgate = true,
.clksrc = CLK_SRC_SIRC,
.frac = MULTIPLY_BY_ONE,
.divider = 1,
},
{
.clkname = LPUART2_CLK,
.clkgate = false,
.clksrc = CLK_SRC_SIRC,
.frac = MULTIPLY_BY_ONE,
.divider = 1,
},
{
.clkname = PORTA_CLK,
.clkgate = true,
.clksrc = CLK_SRC_OFF,
.frac = MULTIPLY_BY_ONE,
.divider = 1,
},
{
.clkname = PORTB_CLK,
.clkgate = true,
.clksrc = CLK_SRC_OFF,
.frac = MULTIPLY_BY_ONE,
.divider = 1,
},
{
.clkname = PORTC_CLK,
.clkgate = true,
.clksrc = CLK_SRC_OFF,
.frac = MULTIPLY_BY_ONE,
.divider = 1,
},
{
.clkname = PORTD_CLK,
.clkgate = true,
.clksrc = CLK_SRC_OFF,
.frac = MULTIPLY_BY_ONE,
.divider = 1,
},
{
.clkname = PORTE_CLK,
.clkgate = true,
.clksrc = CLK_SRC_OFF,
.frac = MULTIPLY_BY_ONE,
.divider = 1,
}
};

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/****************************************************************************
* boards/arm/s32k1xx/rddrone-uavcan146/src/s32k1xx_spi.c
*
* Copyright (C) 2018 Gregory Nutt. All rights reserved.
* Author: Ivan Ucherdzhiev <ivanucherdjiev@gmail.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdint.h>
#include <stdbool.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/spi/spi.h>
#include <nuttx/spi/spi_transfer.h>
#include <arch/board/board.h>
#include "up_arch.h"
#include "s32k1xx_config.h"
#include "s32k1xx_lpspi.h"
#include "s32k1xx_pin.h"
#include "board_config.h"
#if defined(CONFIG_S32K1XX_LPSPI0) || defined(CONFIG_S32K1XX_LPSPI1) || \
defined(CONFIG_S32K1XX_LPSPI2)
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: s32k1xx_spidev_initialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the RDDRONE-UAVCAN146
* board.
*
****************************************************************************/
void weak_function s32k1xx_spidev_initialize(void)
{
#ifdef CONFIG_S32K1XX_LPSPI0
s32k1xx_pinconfig(PIN_LPSPI0_PCS);
#ifdef CONFIG_SPI_DRIVER
struct spi_dev_s *g_lpspi0;
g_lpspi0 = s32k1xx_lpspibus_initialize(0);
if (!g_lpspi0) {
spierr("ERROR: [boot] FAILED to initialize LPSPI0\n");
}
spi_register(g_lpspi0, 0);
#endif
#endif
#ifdef CONFIG_S32K1XX_LPSPI1
s32k1xx_pinconfig(PIN_LPSPI1_PCS);
#ifdef CONFIG_SPI_DRIVER
struct spi_dev_s *g_lpspi1;
g_lpspi1 = s32k1xx_lpspibus_initialize(1);
if (!g_lpspi1) {
spierr("ERROR: [boot] FAILED to initialize LPSPI1\n");
}
spi_register(g_lpspi1, 1);
#endif
#endif
#ifdef CONFIG_S32K1XX_LPSPI2
s32k1xx_pinconfig(PIN_LPSPI2_PCS);
#ifdef CONFIG_SPI_DRIVER
struct spi_dev_s *g_lpspi2;
g_lpspi2 = s32k1xx_lpspibus_initialize(2);
if (!g_lpspi2) {
spierr("ERROR: [boot] FAILED to initialize LPSPI2\n");
}
spi_register(g_lpspi2, 2);
#endif
#endif
}
/****************************************************************************
* Name: s32k1xx_lpspi0/1/2select and s32k1xx_lpspi0/1/2status
*
* Description:
* The external functions, s32k1xx_lpspi0/1/2select and
* s32k1xx_lpspi0/1/2status must be provided by board-specific logic.
* They are implementations of the select and status methods of the SPI
* interface defined by struct spi_ops_s (see include/nuttx/spi/spi.h).
* All other methods (including s32k1xx_lpspibus_initialize()) are provided
* by common logic. To use this common SPI logic on your board:
*
* 1. Provide logic in s32k1xx_boardinitialize() to configure SPI chip
* select pins.
* 2. Provide s32k1xx_lpspi0/1/2select() and s32k1xx_lpspi0/1/2status()
* functions in your board-specific logic. These functions will perform
* chip selection and status operations using GPIOs in the way your
* board is configured.
* 3. Add a calls to s32k1xx_lpspibus_initialize() in your low level
* application initialization logic
* 4. The handle returned by s32k1xx_lpspibus_initialize() may then be used
* to bind the SPI driver to higher level logic (e.g., calling
* mmcsd_spislotinitialize(), for example, will bind the SPI driver to
* the SPI MMC/SD driver).
*
****************************************************************************/
#ifdef CONFIG_S32K1XX_LPSPI0
void s32k1xx_lpspi0select(FAR struct spi_dev_s *dev, uint32_t devid,
bool selected)
{
spiinfo("devid: %d CS: %s\n", (int)devid,
selected ? "assert" : "de-assert");
s32k1xx_gpiowrite(PIN_LPSPI0_PCS, !selected);
}
uint8_t s32k1xx_lpspi0status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return 0;
}
#endif
#ifdef CONFIG_S32K1XX_LPSPI1
void s32k1xx_lpspi1select(FAR struct spi_dev_s *dev,
uint32_t devid, bool selected)
{
spiinfo("devid: %d CS: %s\n", (int)devid,
selected ? "assert" : "de-assert");
s32k1xx_gpiowrite(PIN_LPSPI1_PCS, !selected);
}
uint8_t s32k1xx_lpspi1status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return 0;
}
#endif
#ifdef CONFIG_S32K1XX_LPSPI2
void s32k1xx_lpspi2select(FAR struct spi_dev_s *dev,
uint32_t devid, bool selected)
{
spiinfo("devid: %d CS: %s\n", (int)devid,
selected ? "assert" : "de-assert");
s32k1xx_gpiowrite(PIN_LPSPI2_PCS, !selected);
}
uint8_t s32k1xx_lpspi2status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return 0;
}
#endif
#endif /* CONFIG_S32K1XX_LPSPI0 || CONFIG_S32K1XX_LPSPI01 || CONFIG_S32K1XX_LPSPI2 */

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/****************************************************************************
* boards/arm/s32k1xx/rddrone-uavcan146/src/s32k1xx_userleds.c
*
* Copyright (C) 2019 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <nuttx/board.h>
#include "up_arch.h"
#include "up_internal.h"
#include "s32k1xx_pin.h"
#include "board_config.h"
#include <arch/board/board.h>
#ifndef CONFIG_ARCH_LEDS
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: board_userled_initialize
****************************************************************************/
void board_userled_initialize(void)
{
/* Configure LED GPIOs for output */
s32k1xx_pinconfig(GPIO_LED_R);
s32k1xx_pinconfig(GPIO_LED_G);
s32k1xx_pinconfig(GPIO_LED_B);
}
/****************************************************************************
* Name: board_userled
****************************************************************************/
void board_userled(int led, bool ledon)
{
uint32_t ledcfg;
if (led == BOARD_LED_R) {
ledcfg = GPIO_LED_R;
} else if (led == BOARD_LED_G) {
ledcfg = GPIO_LED_G;
} else if (led == BOARD_LED_B) {
ledcfg = GPIO_LED_B;
} else {
return;
}
s32k1xx_gpiowrite(ledcfg, ledon); /* High illuminates */
}
/****************************************************************************
* Name: board_userled_all
****************************************************************************/
void board_userled_all(uint8_t ledset)
{
/* Low illuminates */
s32k1xx_gpiowrite(GPIO_LED_R, (ledset & BOARD_LED_R_BIT) != 0);
s32k1xx_gpiowrite(GPIO_LED_G, (ledset & BOARD_LED_G_BIT) != 0);
s32k1xx_gpiowrite(GPIO_LED_B, (ledset & BOARD_LED_B_BIT) != 0);
}
#endif /* !CONFIG_ARCH_LEDS */