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imxrt: tone_alarm: Add FlexPWM based Tone alarm driver

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This commit is contained in:
Peter van der Perk 2024-06-02 11:20:29 +02:00 committed by Daniel Agar
parent a7e4000861
commit 5d29c7811b
15 changed files with 573 additions and 410 deletions
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16
boards/nxp/tropic/default.px4board
View File

@ -5,16 +5,22 @@ CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
CONFIG_DRIVERS_ADC_BOARD_ADC=y
CONFIG_DRIVERS_BAROMETER_DPS310=y
CONFIG_DRIVERS_BAROMETER_BMP388=y
CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
CONFIG_DRIVERS_BAROMETER_MS5611=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
CONFIG_DRIVERS_CDCACM_AUTOSTART=y
CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
CONFIG_COMMON_DISTANCE_SENSOR=y
CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
CONFIG_COMMON_INS=y
CONFIG_COMMON_LIGHT=y
CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
CONFIG_COMMON_MAGNETOMETER=y
CONFIG_DRIVERS_OSD_MSP_OSD=y
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@ -27,12 +33,15 @@ CONFIG_COMMON_TELEMETRY=y
CONFIG_DRIVERS_TONE_ALARM=y
CONFIG_DRIVERS_UAVCAN=y
CONFIG_BOARD_UAVCAN_INTERFACES=1
CONFIG_COMMON_UWB=y
CONFIG_MODULES_AIRSPEED_SELECTOR=y
CONFIG_MODULES_BATTERY_STATUS=y
CONFIG_MODULES_CAMERA_FEEDBACK=y
CONFIG_MODULES_COMMANDER=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_DATAMAN=y
CONFIG_MODULES_EKF2=y
CONFIG_MODULES_ESC_BATTERY=y
CONFIG_MODULES_EVENTS=y
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
@ -61,10 +70,13 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
CONFIG_SYSTEMCMDS_BSONDUMP=y
CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_DUMPFILE=y
CONFIG_SYSTEMCMDS_I2C_LAUNCHER=y
CONFIG_SYSTEMCMDS_I2CDETECT=y
CONFIG_SYSTEMCMDS_LED_CONTROL=y
CONFIG_SYSTEMCMDS_MFT=y

5
boards/nxp/tropic/init/rc.board_defaults
View File

@ -16,8 +16,8 @@ param set-default SENS_EN_INA238 0
param set-default SENS_EN_INA228 0
param set-default SENS_EN_INA226 0
param set-default BAT1_V_DIV 10.177939394
param set-default BAT1_A_PER_V 15.391030303
param set-default BAT1_V_DIV 18.000000000
param set-default BAT1_A_PER_V 38.462030303
if [ -f "/fs/microsd/ipcfg-eth0" ]
then
@ -25,6 +25,7 @@ else
netman update -i eth0
fi
rgbled_pwm start
safety_button start
if param greater -s UAVCAN_ENABLE 0

29
boards/nxp/tropic/init/rc.board_sensors
View File

@ -1,18 +1,20 @@
#!/bin/sh
#
# NXP Tropic specific board sensors init
# PX4 board sensors init
#------------------------------------------------------------------------------
#
# UART mapping on NXP Tropic
# UART mapping on Tropic:
#
# LPUART5 /dev/ttyS0 DEBUG
# LPUART3 /dev/ttyS2 TELEM
# LPUART2 /dev/ttyS1 GPS
# LPUART4 /dev/ttyS3 AUX
# LPUART8 /dev/ttyS4 RC
# LPUART5 /dev/ttyS0 CONSOLE
# LPUART3 /dev/ttyS1 GPS
# LPUART2 /dev/ttyS2 TELEM1
# LPUART4 /dev/ttyS3 TELEM2
# LPUART8 /dev/ttyS4 RC
#
#------------------------------------------------------------------------------
set INA_CONFIGURED no
if param compare -s ADC_ADS1115_EN 1
then
ads1115 start -X
@ -25,18 +27,27 @@ if param compare SENS_EN_INA226 1
then
# Start Digital power monitors
ina226 -X -b 1 -t 1 -k start
set INA_CONFIGURED yes
fi
if param compare SENS_EN_INA228 1
then
# Start Digital power monitors
ina228 -X -b 1 -t 1 -k start
set INA_CONFIGURED yes
fi
if param compare SENS_EN_INA238 1
then
# Start Digital power monitors
ina238 -X -b 1 -t 1 -k start
set INA_CONFIGURED yes
fi
if [ $INA_CONFIGURED = no ]
then
# INA226, INA228, INA238 auto-start
i2c_launcher start -b 1
fi
# Internal SPI bus ICM42688p
@ -57,5 +68,7 @@ ist8310 -X -b 1 -R 10 start
# Disable startup of internal baros if param is set to false
if param compare SENS_INT_BARO_EN 1
then
dps310 -I -b 4 start
bmp388 -I -b 4 start
fi
unset INA_CONFIGURED

10
boards/nxp/tropic/nuttx-config/nsh/defconfig
View File

@ -27,6 +27,7 @@ CONFIG_ARMV7M_ITCM=y
CONFIG_ARMV7M_MEMCPY=y
CONFIG_ARMV7M_USEBASEPRI=y
CONFIG_ARM_MPU=y
CONFIG_ARM_MPU_RESET=y
CONFIG_BOARDCTL_RESET=y
CONFIG_BOARD_ASSERT_RESET_VALUE=0
CONFIG_BOARD_LOOPSPERMSEC=114325
@ -40,7 +41,10 @@ CONFIG_CDCACM_RXBUFSIZE=600
CONFIG_CDCACM_TXBUFSIZE=12000
CONFIG_CDCACM_VENDORID=0x1FC9
CONFIG_CDCACM_VENDORSTR="NXP SEMICONDUCTORS"
CONFIG_DEBUG_ERROR=y
CONFIG_DEBUG_FEATURES=y
CONFIG_DEBUG_HARDFAULT_ALERT=y
CONFIG_DEBUG_MEMFAULT=y
CONFIG_DEBUG_SYMBOLS=y
CONFIG_DEBUG_TCBINFO=y
CONFIG_DEV_FIFO_SIZE=0
@ -131,7 +135,6 @@ CONFIG_LPUART5_SERIAL_CONSOLE=y
CONFIG_MEMSET_64BIT=y
CONFIG_MEMSET_OPTSPEED=y
CONFIG_MMCSD=y
CONFIG_MMCSD_MULTIBLOCK_LIMIT=1
CONFIG_MMCSD_SDIO=y
CONFIG_MTD=y
CONFIG_MTD_BYTE_WRITE=y
@ -163,9 +166,7 @@ CONFIG_NET_CAN_SOCK_OPTS=y
CONFIG_NET_ETH_PKTSIZE=1518
CONFIG_NET_ICMP=y
CONFIG_NET_ICMP_SOCKET=y
CONFIG_NET_NACTIVESOCKETS=20
CONFIG_NET_SOLINGER=y
CONFIG_NET_STATISTICS=y
CONFIG_NET_TCP=y
CONFIG_NET_TCPBACKLOG=y
CONFIG_NET_TCP_DELAYED_ACK=y
@ -204,7 +205,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
CONFIG_SCHED_LPWORK=y
CONFIG_SCHED_LPWORKPRIORITY=50
CONFIG_SCHED_LPWORKSTACKSIZE=1632
CONFIG_SCHED_LPWORKSTACKSIZE=2032
CONFIG_SCHED_WAITPID=y
CONFIG_SDIO_BLOCKSETUP=y
CONFIG_SEM_PREALLOCHOLDERS=32
@ -225,6 +226,7 @@ CONFIG_SYSTEM_CLE=y
CONFIG_SYSTEM_DHCPC_RENEW=y
CONFIG_SYSTEM_NSH=y
CONFIG_SYSTEM_PING=y
CONFIG_SYSTEM_SYSTEM=y
CONFIG_TASK_NAME_SIZE=24
CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y

119
boards/nxp/tropic/nuttx-config/scripts/itcm_functions_includes.ld
View File

@ -1,112 +1,3 @@
/* Static */
*(.text.arm_ack_irq)
*(.text.arm_doirq)
*(.text.arm_svcall)
*(.text.arm_switchcontext)
*(.text.board_autoled_on)
*(.text.clock_timer)
*(.text.exception_common)
*(.text.hrt_absolute_time)
*(.text.hrt_tim_isr)
*(.text.imxrt_configwaitints)
*(.text.imxrt_dma_callback)
*(.text.imxrt_dmach_interrupt)
*(.text.imxrt_dmaterminate)
*(.text.imxrt_edma_interrupt)
*(.text.imxrt_endwait)
*(.text.imxrt_gpio3_16_31_interrupt)
*(.text.imxrt_interrupt)
*(.text.imxrt_lpi2c_isr)
*(.text.imxrt_recvdma)
*(.text.imxrt_tcd_free)
*(.text.imxrt_timerisr)
*(.text.imxrt_usbinterrupt)
*(.text.irq_dispatch)
*(.text.memcpy)
*(.text.nxsched_add_blocked)
*(.text.nxsched_add_prioritized)
*(.text.nxsched_add_readytorun)
*(.text.nxsched_get_files)
*(.text.nxsched_get_tcb)
*(.text.nxsched_merge_pending)
*(.text.nxsched_process_timer)
*(.text.nxsched_remove_blocked)
*(.text.nxsched_remove_readytorun)
*(.text.nxsched_resume_scheduler)
*(.text.nxsched_suspend_scheduler)
*(.text.nxsem_add_holder)
*(.text.nxsem_add_holder_tcb)
*(.text.nxsem_clockwait)
*(.text.nxsem_foreachholder)
*(.text.nxsem_freecount0holder)
*(.text.nxsem_freeholder)
*(.text.nxsem_post)
*(.text.nxsem_release_holder)
*(.text.nxsem_restore_baseprio)
*(.text.nxsem_tickwait)
*(.text.nxsem_timeout)
*(.text.nxsem_trywait)
*(.text.nxsem_wait)
*(.text.nxsem_wait_uninterruptible)
*(.text.nxsig_timedwait)
*(.text.sched_lock)
*(.text.sched_note_resume)
*(.text.sched_note_suspend)
*(.text.sched_unlock)
*(.text.sq_addafter)
*(.text.sq_addlast)
*(.text.sq_rem)
*(.text.sq_remafter)
*(.text.sq_remfirst)
*(.text.uart_connected)
*(.text.wd_timer)
/* Tropic tune */
*(.text.imxrt_enet_interrupt)
*(.text.imxrt_enet_interrupt_work)
*(.text.imxrt_txdone)
*(.text.imxrt_txtimeout_work)
*(.text.imxrt_txtimeout_expiry)
*(.text.imxrt_txavail_work)
*(.text.imxrt_txavail)
*(.text.devif_poll)
*(.text.devif_poll_tcp_connections)
*(.text.tcp_poll)
*(.text.devif_poll_udp_connections)
*(.text.udp_nextconn)
*(.text.udp_poll)
*(.text.udp_ipv4_select)
*(.text.udp_callback)
*(.text.udp_datahandler)
*(.text.udp_send)
*(.text.udp_active)
*(.text.udp_ipv4_active)
*(.text.psock_udp_sendto)
*(.text.sendto_eventhandler)
*(.text.net_dataevent)
*(.text.devif_conn_event)
*(.text.devif_event_trigger)
*(.text.devif_poll_icmp)
*(.text.icmp_poll)
*(.text.devif_packet_conversion)
*(.text.imxrt_txpoll)
*(.text.imxrt_txringfull)
*(.text.arp_out)
*(.text.arp_find)
*(.text.arp_format)
*(.text.net_ipv4addr_hdrcmp)
*(.text.net_ipv4addr_copy)
*(.text.net_ipv4addr_broadcast)
*(.text.imxrt_transmit)
*(.text.wd_start)
*(.text.imxrt_dispatch)
*(.text.arp_arpin)
*(.text.ipv4_input)
*(.text.flexio_irq_handler)
*(.text.work_thread)
*(.text.work_queue)
/* Auto-generated */
*(.text._ZN4uORB7Manager27orb_add_internal_subscriberE6ORB_IDhPj)
*(.text._ZN13MavlinkStream6updateERKy)
@ -117,11 +8,9 @@
*(.text._ZN22MulticopterRateControl3RunEv.part.0)
*(.text._ZN7Mavlink9task_mainEiPPc)
*(.text._ZN7sensors22VehicleAngularVelocity3RunEv)
*(.text.memset)
*(.text._ZN4uORB12Subscription9subscribeEv.part.0)
*(.text._ZN4uORB7Manager13orb_data_copyEPvS1_Rjb)
*(.text._ZN4uORB10DeviceNode5writeEP4filePKcj)
*(.text.strcmp)
*(.text._ZN4uORB10DeviceNode7publishEPK12orb_metadataPvPKv)
*(.text._ZN4uORB12DeviceMaster19getDeviceNodeLockedEPK12orb_metadatah)
*(.text._Z12get_orb_meta6ORB_ID)
@ -129,15 +18,12 @@
*(.text._ZN3px49WorkQueue3RunEv)
*(.text._ZN9ICM42688P11ProcessGyroERKyPKN20InvenSense_ICM42688P4FIFO4DATAEh)
*(.text._ZN4EKF23RunEv)
*(.text.imxrt_lpspi_exchange)
*(.text.imxrt_dmach_xfrsetup)
*(.text._ZN7sensors10VehicleIMU7PublishEv)
*(.text._ZN4math17WelfordMeanVectorIfLj3EE6updateERKN6matrix6VectorIfLj3EEE)
*(.text._ZN7sensors10VehicleIMU10UpdateGyroEv)
*(.text._ZN9ICM42688P8FIFOReadERKyh)
*(.text._ZN3Ekf20controlGravityFusionERKN9estimator9imuSampleE)
*(.text._ZN16PX4Accelerometer10updateFIFOER19sensor_accel_fifo_s)
*(.text.up_block_task)
*(.text._ZN7sensors22VehicleAngularVelocity19CalibrateAndPublishERKyRKN6matrix7Vector3IfEES7_)
*(.text._ZN4uORB12Subscription10advertisedEv)
*(.text._ZNK15AttitudeControl6updateERKN6matrix10QuaternionIfEE)
@ -146,7 +32,6 @@
*(.text._ZN4uORB12Subscription6updateEPv)
*(.text._ZN12PX4Gyroscope10updateFIFOER18sensor_gyro_fifo_s)
*(.text._ZN7sensors10VehicleIMU3RunEv)
*(.text.up_unblock_task)
*(.text.__aeabi_l2f)
*(.text._ZN39ControlAllocationSequentialDesaturation23computeDesaturationGainERKN6matrix6VectorIfLj16EEES4_)
*(.text.pthread_mutex_timedlock)
@ -168,16 +53,12 @@
*(.text._ZN9ICM42688P7RunImplEv)
*(.text._ZN4uORB12Subscription9subscribeEv)
*(.text.param_get)
*(.text._do_memcpy)
*(.text._ZN7sensors22VehicleAngularVelocity21SensorSelectionUpdateERKyb)
*(.text._ZN3px49WorkQueue3AddEPNS_8WorkItemE)
*(.text.wd_start)
*(.text.hrt_call_enter)
*(.text._ZN4EKF220PublishLocalPositionERKy)
*(.text._mav_finalize_message_chan_send)
*(.text._ZN3Ekf19fixCovarianceErrorsEb)
*(.text._ZN7sensors22VehicleAngularVelocity16ParametersUpdateEb)
*(.text.ioctl)
*(.text._ZN6events12SendProtocol6updateERKy)
*(.text._ZN6device3SPI8transferEPhS1_j)
*(.text._ZN27MavlinkStreamDistanceSensor4sendEv)

119
boards/nxp/tropic/nuttx-config/scripts/itcm_static_functions.ld Normal file
View File

@ -0,0 +1,119 @@
/* Static */
*(.text.arm_ack_irq)
*(.text.arm_doirq)
*(.text.arm_svcall)
*(.text.arm_switchcontext)
*(.text.board_autoled_on)
*(.text.clock_timer)
*(.text.exception_common)
*(.text.flexio_irq_handler)
*(.text.hrt_absolute_time)
*(.text.hrt_call_enter)
*(.text.hrt_tim_isr)
*(.text.imxrt_configwaitints)
*(.text.imxrt_dma_callback)
*(.text.imxrt_dmach_interrupt)
*(.text.imxrt_dmach_xfrsetup)
*(.text.imxrt_dmaterminate)
*(.text.imxrt_dispatch)
*(.text.imxrt_edma_interrupt)
*(.text.imxrt_endwait)
*(.text.imxrt_enet_interrupt)
*(.text.imxrt_enet_interrupt_work)
*(.text.imxrt_gpio3_16_31_interrupt)
*(.text.imxrt_interrupt)
*(.text.imxrt_lpi2c_isr)
*(.text.imxrt_lpspi_exchange)
*(.text.imxrt_recvdma)
*(.text.imxrt_tcd_free)
*(.text.imxrt_timerisr)
*(.text.imxrt_transmit)
*(.text.imxrt_txdone)
*(.text.imxrt_txtimeout_work)
*(.text.imxrt_txtimeout_expiry)
*(.text.imxrt_txpoll)
*(.text.imxrt_txringfull)
*(.text.imxrt_txavail_work)
*(.text.imxrt_txavail)
*(.text.imxrt_usbinterrupt)
*(.text.irq_dispatch)
*(.text.ioctl)
*(.text.memcpy)
*(.text.memset)
*(.text.nxsched_add_blocked)
*(.text.nxsched_add_prioritized)
*(.text.nxsched_add_readytorun)
*(.text.nxsched_get_files)
*(.text.nxsched_get_tcb)
*(.text.nxsched_merge_pending)
*(.text.nxsched_process_timer)
*(.text.nxsched_remove_blocked)
*(.text.nxsched_remove_readytorun)
*(.text.nxsched_resume_scheduler)
*(.text.nxsched_suspend_scheduler)
*(.text.nxsem_add_holder)
*(.text.nxsem_add_holder_tcb)
*(.text.nxsem_clockwait)
*(.text.nxsem_foreachholder)
*(.text.nxsem_freecount0holder)
*(.text.nxsem_freeholder)
*(.text.nxsem_post)
*(.text.nxsem_release_holder)
*(.text.nxsem_restore_baseprio)
*(.text.nxsem_tickwait)
*(.text.nxsem_timeout)
*(.text.nxsem_trywait)
*(.text.nxsem_wait)
*(.text.nxsem_wait_uninterruptible)
*(.text.nxsig_timedwait)
*(.text.sched_lock)
*(.text.sched_note_resume)
*(.text.sched_note_suspend)
*(.text.sched_unlock)
*(.text.strcmp)
*(.text.sq_addafter)
*(.text.sq_addlast)
*(.text.sq_rem)
*(.text.sq_remafter)
*(.text.sq_remfirst)
*(.text.uart_connected)
*(.text.up_block_task)
*(.text.up_unblock_task)
*(.text.wd_timer)
*(.text.wd_start)
*(.text.work_thread)
*(.text.work_queue)
*(.text._do_memcpy)
/* Tropic Eth tune */
*(.text.devif_poll)
*(.text.devif_poll_tcp_connections)
*(.text.tcp_poll)
*(.text.devif_poll_udp_connections)
*(.text.udp_nextconn)
*(.text.udp_poll)
*(.text.udp_ipv4_select)
*(.text.udp_callback)
*(.text.udp_datahandler)
*(.text.udp_send)
*(.text.udp_active)
*(.text.udp_ipv4_active)
*(.text.psock_udp_sendto)
*(.text.sendto_eventhandler)
*(.text.net_dataevent)
*(.text.devif_conn_event)
*(.text.devif_event_trigger)
*(.text.devif_poll_icmp)
*(.text.icmp_poll)
*(.text.devif_packet_conversion)
*(.text.arp_out)
*(.text.arp_find)
*(.text.arp_format)
*(.text.net_ipv4addr_hdrcmp)
*(.text.net_ipv4addr_copy)
*(.text.net_ipv4addr_broadcast)
*(.text.wd_start)
*(.text.arp_arpin)
*(.text.ipv4_input)
*(.text.work_thread)
*(.text.work_queue)

1
boards/nxp/tropic/nuttx-config/scripts/script.ld
View File

@ -67,6 +67,7 @@ SECTIONS
_sitcmfuncs = ABSOLUTE(.);
FILL(0xFF)
. = 0x40 ;
INCLUDE "itcm_static_functions.ld"
INCLUDE "itcm_functions_includes.ld"
. = ALIGN(8);
_eitcmfuncs = ABSOLUTE(.);

3
boards/nxp/tropic/src/CMakeLists.txt
View File

@ -32,17 +32,18 @@
############################################################################
px4_add_library(drivers_board
autoleds.c
i2c.cpp
init.c
sdhc.c
spi.cpp
timer_config.cpp
tropic_led_pwm.cpp
usb.c
imxrt_flexspi_nor_boot.c
imxrt_flexspi_nor_flash.c
)
target_link_libraries(drivers_board
PRIVATE
nuttx_arch # sdio

191
boards/nxp/tropic/src/autoleds.c
View File

@ -1,191 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2016-2018 Gregory Nutt. All rights reserved.
* Authors: Gregory Nutt <gnutt@nuttx.org>
* David Sidrane <david_s5@nscdg.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.
*
****************************************************************************/
/*
* This module shall be used during board bring up of Nuttx.
*
* The NXP FMUK66-V3 has a separate Red, Green and Blue LEDs driven by the K66
* as follows:
*
* LED K66
* ------ -------------------------------------------------------
* RED FB_CS0_b/ UART2_CTS_b / ADC0_SE5b / SPI0_SCK / FTM3_CH1/ PTD1
* GREEN FTM2_FLT0/ CMP0_IN3/ FB_AD6 / I2S0_RX_BCLK/ FTM3_CH5/ ADC1_SE5b/ PTC9
* BLUE CMP0_IN2/ FB_AD7 / I2S0_MCLK/ FTM3_CH4/ ADC1_SE4b/ PTC8
*
* If CONFIG_ARCH_LEDs is defined, then NuttX will control the LED on board
* the NXP fmurt1062-v1. 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 <px4_platform_common/px4_config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <nuttx/board.h>
#include <arch/board/board.h>
#include "chip.h"
#include "imxrt_gpio.h"
#include "board_config.h"
#ifdef CONFIG_ARCH_LEDS
__BEGIN_DECLS
extern void led_init(void);
__END_DECLS
/****************************************************************************
* Public Functions
****************************************************************************/
bool nuttx_owns_leds = true;
/****************************************************************************
* Name: board_autoled_initialize
****************************************************************************/
void board_autoled_initialize(void)
{
led_init();
}
/****************************************************************************
* Name: board_autoled_on
****************************************************************************/
void phy_set_led(int l, bool s)
{
}
void board_autoled_on(int led)
{
if (!nuttx_owns_leds) {
return;
}
switch (led) {
default:
break;
case LED_HEAPALLOCATE:
phy_set_led(BOARD_LED_BLUE, true);
break;
case LED_IRQSENABLED:
phy_set_led(BOARD_LED_BLUE, false);
phy_set_led(BOARD_LED_GREEN, true);
break;
case LED_STACKCREATED:
phy_set_led(BOARD_LED_GREEN, true);
phy_set_led(BOARD_LED_BLUE, true);
break;
case LED_INIRQ:
phy_set_led(BOARD_LED_BLUE, true);
break;
case LED_SIGNAL:
phy_set_led(BOARD_LED_GREEN, true);
break;
case LED_ASSERTION:
phy_set_led(BOARD_LED_RED, true);
phy_set_led(BOARD_LED_BLUE, true);
break;
case LED_PANIC:
phy_set_led(BOARD_LED_RED, true);
break;
case LED_IDLE : /* IDLE */
phy_set_led(BOARD_LED_RED, true);
break;
}
}
/****************************************************************************
* Name: board_autoled_off
****************************************************************************/
void board_autoled_off(int led)
{
if (!nuttx_owns_leds) {
return;
}
switch (led) {
default:
break;
case LED_SIGNAL:
phy_set_led(BOARD_LED_GREEN, false);
break;
case LED_INIRQ:
phy_set_led(BOARD_LED_BLUE, false);
break;
case LED_ASSERTION:
phy_set_led(BOARD_LED_RED, false);
phy_set_led(BOARD_LED_BLUE, false);
break;
case LED_PANIC:
phy_set_led(BOARD_LED_RED, false);
break;
case LED_IDLE : /* IDLE */
phy_set_led(BOARD_LED_RED, false);
break;
}
}
#endif /* CONFIG_ARCH_LEDS */

32
boards/nxp/tropic/src/board_config.h
View File

@ -44,6 +44,7 @@
****************************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <px4_arch/io_timer.h>
#include <nuttx/compiler.h>
#include <stdint.h>
@ -66,9 +67,9 @@
/* An RGB LED is connected through GPIO as shown below:
*/
#define LED_IOMUX (IOMUX_OPENDRAIN | IOMUX_PULL_NONE | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_SLOW)
#define GPIO_nLED_RED /* GPIO_AD_B0_02 GPIO1_IO02 */ (GPIO_PORT1 | GPIO_PIN2 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | LED_IOMUX)
#define GPIO_nLED_GREEN /* GPIO_B1_03 GPIO2_IO19 */ (GPIO_PORT2 | GPIO_PIN19 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | LED_IOMUX)
#define GPIO_nLED_BLUE /* GPIO_AD_B0_03 GPIO1_IO03 */ (GPIO_PORT1 | GPIO_PIN3 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | LED_IOMUX)
#define GPIO_nLED_RED /* GPIO_AD_B0_02 GPIO1_IO02 */ (GPIO_PORT1 | GPIO_PIN2 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LED_IOMUX)
#define GPIO_nLED_GREEN /* GPIO_B1_03 GPIO2_IO19 */ (GPIO_PORT2 | GPIO_PIN19 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LED_IOMUX)
#define GPIO_nLED_BLUE /* GPIO_AD_B0_03 GPIO1_IO03 */ (GPIO_PORT1 | GPIO_PIN3 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | LED_IOMUX)
#define BOARD_HAS_CONTROL_STATUS_LEDS 1
#define BOARD_OVERLOAD_LED LED_RED
@ -136,6 +137,12 @@
//#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
/* Power supply control and monitoring GPIOs */
#define GENERAL_INPUT_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_UP_47K | IOMUX_DRIVE_HIZ)
#define GENERAL_OUTPUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_KEEP | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST)
/* PWM
*/
@ -149,25 +156,20 @@
//#define BOARD_HAS_UI_LED_PWM 1 Not ported yet (Still Kinetis driver)
#define BOARD_HAS_LED_PWM 1
#define BOARD_LED_PWM_DRIVE_ACTIVE_LOW 1
#define BOARD_HAS_CUSTOM_LED_PWM 1
/* UI LEDs are driven by timer 4 the pins have no alternates
*
* nUI_LED_RED GPIO_B0_10 GPIO2_IO10 QTIMER4_TIMER1
* nUI_LED_GREEN GPIO_B0_11 GPIO2_IO11 QTIMER4_TIMER2
* nUI_LED_BLUE GPIO_B1_11 GPIO2_IO27 QTIMER4_TIMER3
*/
#define PWM_LED_RED /* GPIO_AD_B0_02 */ (GPIO_XBAR1_INOUT16_1 | GENERAL_OUTPUT_IOMUX)
#define PWM_LED_GREEN /* GPIO_B1_03 */ (GPIO_FLEXPWM2_PWMB03_4 | GENERAL_OUTPUT_IOMUX)
#define PWM_LED_BLUE /* GPIO_AD_B0_03 */ (GPIO_XBAR1_INOUT17_1 | GENERAL_OUTPUT_IOMUX)
/* Power supply control and monitoring GPIOs */
#define GENERAL_INPUT_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_UP_47K | IOMUX_DRIVE_HIZ)
#define GENERAL_OUTPUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_KEEP | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST)
/* Tone alarm output */
//FIXME FlexPWM TONE DRIVER
//#define TONE_ALARM_TIMER 2 /* GPT 2 */
//#define TONE_ALARM_CHANNEL 3 /* GPIO_AD_B1_07 GPT2_COMPARE3 */
#define TONE_ALARM_FLEXPWM PWMA_VAL
#define TONE_ALARM_TIMER 3 /* FlexPWM 3 */
#define TONE_ALARM_CHANNEL 1 /* GPIO_EMC_31 PWM3_PWMA01 */
#define GPIO_BUZZER_1 /* GPIO_EMC_31 GPIO4_IO31 */ (GPIO_PORT1 | GPIO_PIN23 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)

88
boards/nxp/tropic/src/imxrt_flexspi_nor_flash.c
View File

@ -35,84 +35,48 @@ const struct flexspi_nor_config_s g_flash_config = {
.tag = FLEXSPI_CFG_BLK_TAG,
.version = FLEXSPI_CFG_BLK_VERSION,
.read_sample_clksrc = FLASH_READ_SAMPLE_CLK_LOOPBACK_FROM_SCKPAD,
.cs_hold_time = 3u,
.cs_setup_time = 3u,
.cs_hold_time = 1u,
.cs_setup_time = 1u,
.column_address_width = 0u,
.device_type = FLEXSPI_DEVICE_TYPE_SERIAL_NOR,
.sflash_pad_type = SERIAL_FLASH_4PADS,
.serial_clk_freq = FLEXSPI_SERIAL_CLKFREQ_133MHz,
.sflash_a1size = 2u * 1024u * 1024u,
.sflash_a1size = 8u * 1024u * 1024u,
.data_valid_time =
{
0u, 0u
},
.lookup_table =
{
/* LUTs */
/* Fast Read Quad I/O */
[0 + 0] = FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0xeb,
RADDR_SDR, FLEXSPI_4PAD, 0x18),
[0 + 1] = FLEXSPI_LUT_SEQ(DUMMY_SDR, FLEXSPI_4PAD, 0x06,
READ_SDR, FLEXSPI_4PAD, 0x04),
FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0xeb,
RADDR_SDR, FLEXSPI_4PAD, 0x18),
FLEXSPI_LUT_SEQ(DUMMY_SDR, FLEXSPI_4PAD, 0x06,
READ_SDR, FLEXSPI_4PAD, 0x04),
0x00000000,
0x00000000,
/* Read Status Register-1 */
[4 * 1 + 0] = FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x05,
READ_SDR, FLEXSPI_1PAD, 0x04),
FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x05,
READ_SDR, FLEXSPI_1PAD, 0x04),
0x00000000,
0x00000000,
0x00000000,
/* Write Status Register-1 */
[4 * 3 + 0] = FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x01, STOP, FLEXSPI_1PAD, 0x0),
0x00000000,
0x00000000,
0x00000000,
0x00000000,
/* Sector Erase (4KB) */
[4 * 5 + 0] = FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x20,
RADDR_SDR, FLEXSPI_1PAD, 0x18),
FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x01, STOP, FLEXSPI_1PAD, 0x0),
0x00000000,
0x00000000,
0x00000000,
/* Block Erase (64KB) */
[4 * 8 + 0] = FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0xd8,
RADDR_SDR, FLEXSPI_1PAD, 0x18),
0x00000000,
0x00000000,
0x00000000,
0x00000000,
/* Page Program */
[4 * 9 + 0] = FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x02,
RADDR_SDR, FLEXSPI_1PAD, 0x18),
[4 * 9 + 1] = FLEXSPI_LUT_SEQ(WRITE_SDR, FLEXSPI_1PAD, 0x04,
STOP, FLEXSPI_1PAD, 0x0),
FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x20,
RADDR_SDR, FLEXSPI_1PAD, 0x18),
0x00000000,
0x00000000,
0x00000000,
0x00000000,
0x00000000,
0x00000000,
0x00000000,
0x00000000,
0x00000000,
0x00000000,
0x00000000,
FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0xd8,
RADDR_SDR, FLEXSPI_1PAD, 0x18),
0x00000000,
0x00000000,
0x00000000,
FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x02,
RADDR_SDR, FLEXSPI_1PAD, 0x18),
FLEXSPI_LUT_SEQ(WRITE_SDR, FLEXSPI_1PAD, 0x04,
STOP, FLEXSPI_1PAD, 0x0),
0x00000000,
0x00000000,
0x00000000,
0x00000000,
0x00000000,
0x00000000,
FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x60, STOP, FLEXSPI_1PAD, 0x0),
/* Chip Erase */
[4 * 11 + 0] = FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x60, STOP, FLEXSPI_1PAD, 0x0),
},
},

6
boards/nxp/tropic/src/imxrt_flexspi_nor_flash.h
View File

@ -194,9 +194,9 @@ enum flexspi_serial_clkfreq_e {
FLEXSPI_SERIAL_CLKFREQ_75MHz = 4,
FLEXSPI_SERIAL_CLKFREQ_80MHz = 5,
FLEXSPI_SERIAL_CLKFREQ_100MHz = 6,
FLEXSPI_SERIAL_CLKFREQ_133MHz = 7,
FLEXSPI_SERIAL_CLKFREQ_166MHz = 8,
FLEXSPI_SERIAL_CLKFREQ_200MHz = 9,
FLEXSPI_SERIAL_CLKFREQ_120MHz = 7,
FLEXSPI_SERIAL_CLKFREQ_133MHz = 8,
FLEXSPI_SERIAL_CLKFREQ_166MHz = 9,
};
/* FlexSPI clock configuration type */

218
boards/nxp/tropic/src/tropic_led_pwm.cpp Normal file
View File

@ -0,0 +1,218 @@
/****************************************************************************
*
* Copyright (c) 2024 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 Airmind 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 tropic_led_pwm.cpp
*/
#include <px4_platform_common/px4_config.h>
#include <systemlib/px4_macros.h>
#include <nuttx/arch.h>
#include <nuttx/irq.h>
#include <sys/types.h>
#include <stdbool.h>
#include <assert.h>
#include <debug.h>
#include <time.h>
#include <queue.h>
#include <errno.h>
#include <string.h>
#include <stdio.h>
#include <arch/board/board.h>
#include <drivers/drv_pwm_output.h>
#include <px4_arch/io_timer.h>
#include <chip.h>
#include "imxrt_xbar.h"
#include "imxrt_periphclks.h"
#include "hardware/imxrt_tmr.h"
#include "hardware/imxrt_flexpwm.h"
#define LED_PWM_FREQ 1000
#define FLEXPWM_FREQ 1000000
#define QTMR_FREQ (144000000/128)
#define SM_SPACING (IMXRT_FLEXPWM_SM1CNT_OFFSET-IMXRT_FLEXPWM_SM0CNT_OFFSET)
#define FLEXPWM_TIMER_BASE IMXRT_FLEXPWM2_BASE
/* Register accessors */
#define _REG(_addr) (*(volatile uint16_t *)(_addr))
#define _REG16(_base, _reg) (*(volatile uint16_t *)(_base + _reg))
#define FLEXPWMREG(_tmr, _sm, _reg) _REG16(FLEXPWM_TIMER_BASE + ((_sm) * SM_SPACING), (_reg))
#define QTMRREG(_reg, _chn) _REG16(IMXRT_QTIMER4_BASE + ((_chn) * IMXRT_TMR_CHANNEL_SPACING),(_reg))
/* FlexPWM Registers for LED_G */
#define rINIT(_tim, _sm) FLEXPWMREG(_tim, _sm,IMXRT_FLEXPWM_SM0INIT_OFFSET) /* Initial Count Register */
#define rCTRL(_tim, _sm) FLEXPWMREG(_tim, _sm,IMXRT_FLEXPWM_SM0CTRL_OFFSET) /* Control Register */
#define rCTRL2(_tim, _sm) FLEXPWMREG(_tim, _sm,IMXRT_FLEXPWM_SM0CTRL2_OFFSET) /* Control 2 Register */
#define rFSTS0(_tim) FLEXPWMREG(_tim, 0, IMXRT_FLEXPWM_FSTS0_OFFSET) /* Fault Status Register */
#define rVAL0(_tim, _sm) FLEXPWMREG(_tim, _sm,IMXRT_FLEXPWM_SM0VAL0_OFFSET) /* Value Register 0 */
#define rVAL1(_tim, _sm) FLEXPWMREG(_tim, _sm,IMXRT_FLEXPWM_SM0VAL1_OFFSET) /* Value Register 1 */
#define rVAL2(_tim, _sm) FLEXPWMREG(_tim, _sm,IMXRT_FLEXPWM_SM0VAL2_OFFSET) /* Value Register 2 */
#define rVAL3(_tim, _sm) FLEXPWMREG(_tim, _sm,IMXRT_FLEXPWM_SM0VAL3_OFFSET) /* Value Register 3 */
#define rVAL4(_tim, _sm) FLEXPWMREG(_tim, _sm,IMXRT_FLEXPWM_SM0VAL4_OFFSET) /* Value Register 4 */
#define rVAL5(_tim, _sm) FLEXPWMREG(_tim, _sm,IMXRT_FLEXPWM_SM0VAL5_OFFSET) /* Value Register 5 */
#define rFFILT0(_tim) FLEXPWMREG(_tim, 0, IMXRT_FLEXPWM_FFILT0_OFFSET) /* Fault Filter Register */
#define rDISMAP0(_tim, _sm) FLEXPWMREG(_tim, _sm,IMXRT_FLEXPWM_SM0DISMAP0_OFFSET) /* Fault Disable Mapping Register 0 */
#define rDISMAP1(_tim, _sm) FLEXPWMREG(_tim, _sm,IMXRT_FLEXPWM_SM0DISMAP1_OFFSET) /* Fault Disable Mapping Register 1 */
#define rOUTEN(_tim) FLEXPWMREG(_tim, 0, IMXRT_FLEXPWM_OUTEN_OFFSET) /* Output Enable Register */
#define rDTSRCSEL(_tim) FLEXPWMREG(_tim, 0, IMXRT_FLEXPWM_DTSRCSEL_OFFSET) /* PWM Source Select Register */
#define rMCTRL(_tim) FLEXPWMREG(_tim, 0, IMXRT_FLEXPWM_MCTRL_OFFSET) /* Master Control Register */
#define QTMR_rCOMP1(_chn) QTMRREG(IMXRT_TMR_COMP1_OFFSET, _chn)
#define QTMR_rCOMP2(_chn) QTMRREG(IMXRT_TMR_COMP2_OFFSET, _chn)
#define QTMR_rCAPT(_chn) QTMRREG(IMXRT_TMR_CAPT_OFFSET, _chn)
#define QTMR_rLOAD(_chn) QTMRREG(IMXRT_TMR_LOAD_OFFSET, _chn)
#define QTMR_rHOLD(_chn) QTMRREG(IMXRT_TMR_HOLD_OFFSET, _chn)
#define QTMR_rCNTR(_chn) QTMRREG(IMXRT_TMR_CNTR_OFFSET, _chn)
#define QTMR_rCTRL(_chn) QTMRREG(IMXRT_TMR_CTRL_OFFSET, _chn)
#define QTMR_rSCTRL(_chn) QTMRREG(IMXRT_TMR_SCTRL_OFFSET, _chn)
#define QTMR_rCMPLD1(_chn) QTMRREG(IMXRT_TMR_CMPLD1_OFFSET, _chn)
#define QTMR_rCMPLD2(_chn) QTMRREG(IMXRT_TMR_CMPLD2_OFFSET, _chn)
#define QTMR_rCSCTRL(_chn) QTMRREG(IMXRT_TMR_CSCTRL_OFFSET, _chn)
#define QTMR_rFILT(_chn) QTMRREG(IMXRT_TMR_FILT_OFFSET, _chn)
#define QTMR_rDMA(_chn) QTMRREG(IMXRT_TMR_DMA_OFFSET, _chn)
#define QTMR_rENBL(_chn) QTMRREG(IMXRT_TMR_ENBL_OFFSET, _chn)
#define FLEXPWM_TIMER 2
#define FLEXPWM_SM 3
#define FREQ
static void flexpwm_led_green(uint16_t cvalue)
{
if (cvalue == 0) {
rMCTRL(FLEXPWM_TIMER) &= ~MCTRL_RUN(1 << FLEXPWM_SM);
px4_arch_configgpio(GPIO_nLED_GREEN);
} else {
rMCTRL(FLEXPWM_TIMER) |= (1 << (FLEXPWM_SM + MCTRL_CLDOK_SHIFT));
rVAL1(FLEXPWM_TIMER, FLEXPWM_SM) = (FLEXPWM_FREQ / LED_PWM_FREQ) - 1;
rVAL5(FLEXPWM_TIMER, FLEXPWM_SM) = (FLEXPWM_FREQ / LED_PWM_FREQ) - (cvalue * 3);
rMCTRL(FLEXPWM_TIMER) |= MCTRL_LDOK(1 << FLEXPWM_SM) | MCTRL_RUN(1 << FLEXPWM_SM);
px4_arch_configgpio(PWM_LED_GREEN);
}
}
static void init_qtimer(unsigned channel)
{
QTMR_rCNTR(channel) = 0; /* Reset counter */
QTMR_rSCTRL(channel) = (TMR_SCTRL_OEN | TMR_SCTRL_FORCE); /* Enable output */
QTMR_rCSCTRL(channel) = (TMR_CSCTRL_CL1_COMP1);
QTMR_rCOMP1(channel) = 0x1; /* Store initial value to the duty-compare register */
QTMR_rCMPLD1(channel) = 0x1; /* Store initial value to the duty-compare register */
QTMR_rCOMP2(channel) = 0x1; /* Store initial value to the duty-compare register */
QTMR_rCMPLD2(channel) = 0x1; /* Store initial value to the duty-compare register */
QTMR_rCTRL(channel) = (TMR_CTRL_PCS_DIV32 | TMR_CTRL_OUTMODE_TOG_ALT | TMR_CTRL_DIR |
TMR_CTRL_CM_MODE1); /* Run counter */
}
int
led_pwm_servo_set(unsigned channel, uint8_t cvalue)
{
if (channel == 2) {
if (cvalue == 0) {
px4_arch_configgpio(GPIO_nLED_RED);
} else {
px4_arch_configgpio(PWM_LED_RED);
QTMR_rCMPLD1(0) = (uint16_t)cvalue * 256;
}
} else if (channel == 1) {
flexpwm_led_green(cvalue);
} else if (channel == 0) {
if (cvalue == 0) {
px4_arch_configgpio(GPIO_nLED_BLUE);
} else {
px4_arch_configgpio(PWM_LED_BLUE);
QTMR_rCMPLD1(1) = (uint16_t)cvalue * 256;
}
}
return 0;
}
int led_pwm_servo_init()
{
/* PWM_LED_GREEN - FLEXPWM2_PWMB03 */
imxrt_clockall_pwm2();
/* PWM_LED_RED PWM_LED_BLUE - QTIMER4 */
imxrt_clockall_timer4();
/* Clear all Faults */
rFSTS0(FLEXPWM_TIMER) = FSTS_FFLAG_MASK;
rMCTRL(FLEXPWM_TIMER) |= (1 << (FLEXPWM_SM + MCTRL_CLDOK_SHIFT));
rCTRL2(FLEXPWM_TIMER, FLEXPWM_SM) = SMCTRL2_CLK_SEL_EXT_CLK | SMCTRL2_DBGEN | SMCTRL2_INDEP;
rCTRL(FLEXPWM_TIMER, FLEXPWM_SM) = SMCTRL_PRSC_DIV16 | SMCTRL_FULL;
/* Edge aligned at 0 */
rINIT(FLEXPWM_TIMER, FLEXPWM_SM) = 0;
rVAL0(FLEXPWM_TIMER, FLEXPWM_SM) = 0;
rVAL2(FLEXPWM_TIMER, FLEXPWM_SM) = 0;
rVAL4(FLEXPWM_TIMER, FLEXPWM_SM) = 0;
rFFILT0(FLEXPWM_TIMER) &= ~FFILT_FILT_PER_MASK;
rDISMAP0(FLEXPWM_TIMER, FLEXPWM_SM) = 0xf000;
rDISMAP1(FLEXPWM_TIMER, FLEXPWM_SM) = 0xf000;
rOUTEN(FLEXPWM_TIMER) |= OUTEN_PWMB_EN(1 << FLEXPWM_SM);
rDTSRCSEL(FLEXPWM_TIMER) = 0;
rMCTRL(FLEXPWM_TIMER) |= MCTRL_LDOK(1 << FLEXPWM_SM);
/* QTMR */
init_qtimer(0);
init_qtimer(1);
/* Red - QTIMER4_TMR0 */
imxrt_xbar_connect(IMXRT_XBARA1_OUT_IOMUX_XBAR_IO16_SEL_OFFSET, IMXRT_XBARA1_IN_QTIMER4_TMR0_OUT);
/* Blue - QTIMER4_TMR1 */
imxrt_xbar_connect(IMXRT_XBARA1_OUT_IOMUX_XBAR_IO17_SEL_OFFSET, IMXRT_XBARA1_IN_QTIMER4_TMR1_OUT);
/* Set XBAR 16 and 17 as an output */
putreg32((1 << 28) | (1 << 29), IMXRT_IOMUXC_GPR_GPR6);
return OK;
}

2
boards/nxp/tropic/src/usb.c
View File

@ -74,7 +74,7 @@ int imxrt_usb_initialize(void)
// We abuse VBUS2 to check if system power checks VBUS gets below 4.7V
putreg32(USB_ANALOG_USB_VBUS_DETECT_VBUSVALID_THRESH_4V7 | USB_ANALOG_USB_VBUS_DETECT_VBUSVALID_PWRUP_CMPS,
IMXRT_USB_ANALOG_USB2_VBUS_DETECT);
IMXRT_USB_ANALOG_USB2_VBUS_DETECT);
return 0;
}
/************************************************************************************

144
platforms/nuttx/src/px4/nxp/imxrt/tone_alarm/ToneAlarmInterface.cpp
View File

@ -41,15 +41,155 @@
#include <systemlib/px4_macros.h>
#include "chip.h"
#ifdef TONE_ALARM_FLEXPWM
#include "hardware/imxrt_flexpwm.h"
#else
#include "hardware/imxrt_gpt.h"
#endif
#include "imxrt_periphclks.h"
#define CAT4_(A, B, C, D) A##B##C##D
#define CAT4(A, B, C, D) CAT4_(A, B, C, D)
#define CAT3_(A, B, C) A##B##C
#define CAT3(A, B, C) CAT3_(A, B, C)
#define CAT2_(A, B) A##B
#define CAT2(A, B) CAT2_(A, B)
#ifdef TONE_ALARM_FLEXPWM
/*
* Period of the free-running counter, in microseconds.
*/
#define TONE_ALARM_COUNTER_PERIOD 4294967296
/* Tone Alarm configuration */
#define TONE_ALARM_TIMER_CLOCK BOARD_GPT_FREQUENCY /* The input clock frequency to the GPT block */
#define TONE_ALARM_TIMER_BASE CAT3(IMXRT_FLEXPWM, TONE_ALARM_TIMER,_BASE) /* The Base address of the GPT */
#define TONE_ALARM_TIMER_VECTOR CAT4(IMXRT_IRQ_FLEXPWM, TONE_ALARM_TIMER, _, TONE_ALARM_CHANNEL) /* The GPT Interrupt vector */
#if TONE_ALARM_TIMER == 1
# define TONE_ALARM_CLOCK_ALL() imxrt_clockall_pwm1() /* The Clock Gating macro for this PWM */
#elif TONE_ALARM_TIMER == 2
# define TONE_ALARM_CLOCK_ALL() imxrt_clockall_pwm2() /* The Clock Gating macro for this PWM */
#elif TONE_ALARM_TIMER == 3
# define TONE_ALARM_CLOCK_ALL() imxrt_clockall_pwm3() /* The Clock Gating macro for this PWM */
#elif TONE_ALARM_TIMER == 4
# define TONE_ALARM_CLOCK_ALL() imxrt_clockall_pwm4() /* The Clock Gating macro for this PWM */
#endif
# define TONE_ALARM_TIMER_FREQ 1000000
#define SM_SPACING (IMXRT_FLEXPWM_SM1CNT_OFFSET-IMXRT_FLEXPWM_SM0CNT_OFFSET)
/* Register accessors */
#define _REG(_addr) (*(volatile uint16_t *)(_addr))
#define _REG16(_base, _reg) (*(volatile uint16_t *)(_base + _reg))
#define REG(_tmr, _sm, _reg) _REG16(TONE_ALARM_TIMER_BASE + ((_sm) * SM_SPACING), (_reg))
#define rINIT(_tim, _sm) REG(_tim, _sm,IMXRT_FLEXPWM_SM0INIT_OFFSET) /* Initial Count Register */
#define rCTRL(_tim, _sm) REG(_tim, _sm,IMXRT_FLEXPWM_SM0CTRL_OFFSET) /* Control Register */
#define rCTRL2(_tim, _sm) REG(_tim, _sm,IMXRT_FLEXPWM_SM0CTRL2_OFFSET) /* Control 2 Register */
#define rFSTS0(_tim) REG(_tim, 0, IMXRT_FLEXPWM_FSTS0_OFFSET) /* Fault Status Register */
#define rVAL0(_tim, _sm) REG(_tim, _sm,IMXRT_FLEXPWM_SM0VAL0_OFFSET) /* Value Register 0 */
#define rVAL1(_tim, _sm) REG(_tim, _sm,IMXRT_FLEXPWM_SM0VAL1_OFFSET) /* Value Register 1 */
#define rVAL2(_tim, _sm) REG(_tim, _sm,IMXRT_FLEXPWM_SM0VAL2_OFFSET) /* Value Register 2 */
#define rVAL3(_tim, _sm) REG(_tim, _sm,IMXRT_FLEXPWM_SM0VAL3_OFFSET) /* Value Register 3 */
#define rVAL4(_tim, _sm) REG(_tim, _sm,IMXRT_FLEXPWM_SM0VAL4_OFFSET) /* Value Register 4 */
#define rVAL5(_tim, _sm) REG(_tim, _sm,IMXRT_FLEXPWM_SM0VAL5_OFFSET) /* Value Register 5 */
#define rFFILT0(_tim) REG(_tim, 0, IMXRT_FLEXPWM_FFILT0_OFFSET) /* Fault Filter Register */
#define rDISMAP0(_tim, _sm) REG(_tim, _sm,IMXRT_FLEXPWM_SM0DISMAP0_OFFSET) /* Fault Disable Mapping Register 0 */
#define rDISMAP1(_tim, _sm) REG(_tim, _sm,IMXRT_FLEXPWM_SM0DISMAP1_OFFSET) /* Fault Disable Mapping Register 1 */
#define rOUTEN(_tim) REG(_tim, 0, IMXRT_FLEXPWM_OUTEN_OFFSET) /* Output Enable Register */
#define rDTSRCSEL(_tim) REG(_tim, 0, IMXRT_FLEXPWM_DTSRCSEL_OFFSET) /* PWM Source Select Register */
#define rMCTRL(_tim) REG(_tim, 0, IMXRT_FLEXPWM_MCTRL_OFFSET) /* Master Control Register */
namespace ToneAlarmInterface
{
void init()
{
#if defined(TONE_ALARM_TIMER)
/* configure the GPIO to the idle state */
px4_arch_configgpio(GPIO_TONE_ALARM_IDLE);
/* Enable the Module clock */
TONE_ALARM_CLOCK_ALL();
/* Clear all Faults */
rFSTS0(TONE_ALARM_TIMER) = FSTS_FFLAG_MASK;
rMCTRL(TONE_ALARM_TIMER) |= (1 << (TONE_ALARM_CHANNEL + MCTRL_CLDOK_SHIFT));
rCTRL2(TONE_ALARM_TIMER, TONE_ALARM_CHANNEL) = SMCTRL2_CLK_SEL_EXT_CLK | SMCTRL2_DBGEN | SMCTRL2_INDEP;
rCTRL(TONE_ALARM_TIMER, TONE_ALARM_CHANNEL) = SMCTRL_PRSC_DIV16 | SMCTRL_FULL;
/* Edge aligned at 0 */
rINIT(TONE_ALARM_TIMER, TONE_ALARM_CHANNEL) = 0;
rVAL0(TONE_ALARM_TIMER, TONE_ALARM_CHANNEL) = 0;
rVAL2(TONE_ALARM_TIMER, TONE_ALARM_CHANNEL) = 0;
rVAL4(TONE_ALARM_TIMER, TONE_ALARM_CHANNEL) = 0;
rFFILT0(TONE_ALARM_TIMER) &= ~FFILT_FILT_PER_MASK;
rDISMAP0(TONE_ALARM_TIMER, TONE_ALARM_CHANNEL) = 0xf000;
rDISMAP1(TONE_ALARM_TIMER, TONE_ALARM_CHANNEL) = 0xf000;
rOUTEN(TONE_ALARM_TIMER) |= TONE_ALARM_FLEXPWM == PWMA_VAL ? OUTEN_PWMA_EN(1 << TONE_ALARM_CHANNEL)
: OUTEN_PWMB_EN(1 << TONE_ALARM_CHANNEL);
rDTSRCSEL(TONE_ALARM_TIMER) = 0;
rMCTRL(TONE_ALARM_TIMER) |= MCTRL_LDOK(1 << TONE_ALARM_CHANNEL);
#endif /* TONE_ALARM_TIMER */
}
hrt_abstime start_note(unsigned frequency)
{
hrt_abstime time_started = 0;
#if defined(TONE_ALARM_TIMER)
rMCTRL(TONE_ALARM_TIMER) |= (1 << (TONE_ALARM_CHANNEL + MCTRL_CLDOK_SHIFT));
rVAL1(TONE_ALARM_TIMER, TONE_ALARM_CHANNEL) = (TONE_ALARM_TIMER_FREQ / frequency) - 1;
if (TONE_ALARM_FLEXPWM == PWMA_VAL) {
rVAL3(TONE_ALARM_TIMER, TONE_ALARM_CHANNEL) = ((TONE_ALARM_TIMER_FREQ / frequency) / 2);
} else {
rVAL5(TONE_ALARM_TIMER, TONE_ALARM_CHANNEL) = ((TONE_ALARM_TIMER_FREQ / frequency) / 2);
}
rMCTRL(TONE_ALARM_TIMER) |= MCTRL_LDOK(1 << TONE_ALARM_CHANNEL) | MCTRL_RUN(1 << TONE_ALARM_CHANNEL);
// configure the GPIO to enable timer output
irqstate_t flags = enter_critical_section();
time_started = hrt_absolute_time();
px4_arch_configgpio(GPIO_TONE_ALARM);
leave_critical_section(flags);
#endif /* TONE_ALARM_TIMER */
return time_started;
}
void stop_note()
{
#if defined(TONE_ALARM_TIMER)
/* stop the current note */
rMCTRL(TONE_ALARM_TIMER) &= ~MCTRL_RUN(1 << TONE_ALARM_CHANNEL);
/*
* Make sure the GPIO is not driving the speaker.
*/
px4_arch_configgpio(GPIO_TONE_ALARM_IDLE);
#endif /* TONE_ALARM_TIMER */
}
} /* namespace ToneAlarmInterface */
#else
/* Check that tone alarm and HRT timers are different */
#if defined(TONE_ALARM_TIMER) && defined(HRT_TIMER)
# if TONE_ALARM_TIMER == HRT_TIMER
@ -134,8 +274,6 @@
#define CR_OM CAT3(GPT_CR_OM, TONE_ALARM_CHANNEL,_TOGGLE) /* Output Compare mode */
#define CBRK_BUZZER_KEY 782097
namespace ToneAlarmInterface
{
@ -215,3 +353,5 @@ void stop_note()
}
} /* namespace ToneAlarmInterface */
#endif