NXP MR-CANHUBK3 Support

2026-11-01 12:11:35 +08:00 · 2022-12-06 06:49:28 -05:00
parent 7f01e3962f
commit 45244e610f
69 changed files with 8961 additions and 2 deletions
@@ -0,0 +1,115 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/*
+ * @file timer_config.c
+ *
+ * Configuration data for the kinetis pwm_servo, input capture and pwm input driver.
+ *
+ * Note that these arrays must always be fully-sized.
+ */
+
+// TODO:Stubbed out for now
+#include <stdint.h>
+
+#include "hardware/s32k3xx_emios.h"
+
+#include "board_config.h"
+
+#include <drivers/drv_pwm_output.h>
+#include <px4_arch/io_timer_hw_description.h>
+
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::EMIOS0)
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::EMIOS0, Timer::Channel0}, PIN_EMIOS0_CH0_1),
+	initIOTimerChannel(io_timers, {Timer::EMIOS0, Timer::Channel1}, PIN_EMIOS0_CH1_1),
+	initIOTimerChannel(io_timers, {Timer::EMIOS0, Timer::Channel2}, PIN_EMIOS0_CH2_1),
+	initIOTimerChannel(io_timers, {Timer::EMIOS0, Timer::Channel3}, PIN_EMIOS0_CH3_2),
+	initIOTimerChannel(io_timers, {Timer::EMIOS0, Timer::Channel4}, PIN_EMIOS0_CH4_2),
+	initIOTimerChannel(io_timers, {Timer::EMIOS0, Timer::Channel5}, PIN_EMIOS0_CH5_2),
+	initIOTimerChannel(io_timers, {Timer::EMIOS0, Timer::Channel6}, PIN_EMIOS0_CH6_1),
+	initIOTimerChannel(io_timers, {Timer::EMIOS0, Timer::Channel7}, PIN_EMIOS0_CH7_2),
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);
+
+const struct io_timers_t led_pwm_timers[MAX_LED_TIMERS] = {
+	{
+		.base = S32K3XX_EMIOS0_BASE,
+		.clock_register = 0,
+		.clock_bit = 0,
+		.vectorno_0_3 = 0,
+		.vectorno_4_7 = 0,
+		.vectorno_8_11 = 0,
+		.vectorno_12_15 = 0,
+		.vectorno_16_19 = 0,
+		.vectorno_20_23 = 0,
+	},
+	{
+		.base = S32K3XX_EMIOS1_BASE,
+		.clock_register = 0,
+		.clock_bit = 0,
+		.vectorno_0_3 = 0,
+		.vectorno_4_7 = 0,
+		.vectorno_8_11 = 0,
+		.vectorno_12_15 = 0,
+		.vectorno_16_19 = 0,
+		.vectorno_20_23 = 0,
+	},
+};
+
+const struct timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = {
+	{
+		.gpio_out = GPIO_LED_R, // RGB_R
+		.gpio_in  = 0,
+		.timer_index = 0,
+		.timer_channel = 19,
+	},
+	{
+		.gpio_out = GPIO_LED_G, // RGB_G
+		.gpio_in  = 0,
+		.timer_index = 1,
+		.timer_channel = 10,
+	},
+	{
+		.gpio_out = GPIO_LED_B, // RGB_B
+		.gpio_in  = 0,
+		.timer_index = 1,
+		.timer_channel = 5,
+	},
+};