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rt106x: Add romapi support and reboot to isp/bootloader

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This commit is contained in:
Peter van der Perk
2025-06-26 09:11:54 +02:00
parent 496843dbad
commit 6c57ddc495
8 changed files with 183 additions and 11 deletions
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platforms/nuttx/src/px4/nxp/imxrt/board_reset/CMakeLists.txt
-2
View File
@@ -35,9 +35,7 @@ px4_add_library(arch_board_reset
board_reset.cpp
)
if (CONFIG_ARCH_FAMILY_IMXRT117x)
target_link_libraries(arch_board_reset PRIVATE arch_board_romapi)
endif()
# up_systemreset
if (NOT DEFINED CONFIG_BUILD_FLAT)
platforms/nuttx/src/px4/nxp/imxrt/board_reset/board_reset.cpp
+10 -7
View File
@@ -45,6 +45,12 @@
#ifdef CONFIG_ARCH_FAMILY_IMXRT117x
#include <hardware/rt117x/imxrt117x_snvs.h>
#elif defined CONFIG_ARCH_FAMILY_IMXRT106x
# include <hardware/imxrt_snvs.h>
# define SNVS_LPCR_GPR_Z_DIS (1 << 24) /* Bit 24: General Purpose Registers Zeroization Disable */
#endif
#ifdef BOARD_HAS_ISP_BOOTLOADER
#include <px4_arch/imxrt_flexspi_nor_flash.h>
#include <px4_arch/imxrt_romapi.h>
#endif
@@ -59,13 +65,9 @@
static int board_reset_enter_bootloader()
{
#ifdef CONFIG_ARCH_FAMILY_IMXRT117x
uint32_t regvalue = BOOT_RTC_SIGNATURE;
modifyreg32(IMXRT_SNVS_LPCR, 0, SNVS_LPCR_GPR_Z_DIS);
putreg32(regvalue, PX4_IMXRT_RTC_REBOOT_REG_ADDRESS);
#elif defined(BOARD_HAS_TEENSY_BOOTLOADER)
asm("BKPT #251"); /* Enter Teensy MKL02 bootloader */
#endif
return OK;
}
@@ -75,15 +77,16 @@ int board_reset(int status)
board_reset_enter_bootloader();
}
#if defined(BOARD_HAS_ISP_BOOTLOADER)
else if (status == REBOOT_TO_ISP) {
#ifdef BOARD_HAS_TEENSY_BOOTLOADER
asm("BKPT #251"); /* Enter Teensy MKL02 bootloader */
#elif defined(BOARD_HAS_ISP_BOOTLOADER)
uint32_t arg = 0xeb100000;
ROM_API_Init();
ROM_RunBootloader(&arg);
#endif
}
#endif
#if defined(BOARD_HAS_ON_RESET)
board_on_reset(status);
platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/imxrt_flexspi_nor_flash.h
+16 -1
View File
@@ -138,18 +138,33 @@
(FLEXSPI_LUT_OPERAND0(op0) | FLEXSPI_LUT_NUM_PADS0(pad0) | FLEXSPI_LUT_OPCODE0(cmd0) | FLEXSPI_LUT_OPERAND1(op1) | \
FLEXSPI_LUT_NUM_PADS1(pad1) | FLEXSPI_LUT_OPCODE1(cmd1))
#ifdef CONFIG_ARCH_FAMILY_IMXRT106x
//!@brief Definitions for FlexSPI Serial Clock Frequency
typedef enum _FlexSpiSerialClockFreq {
kFlexSpiSerialClk_30MHz = 1,
kFlexSpiSerialClk_50MHz = 2,
kFlexSpiSerialClk_60MHz = 3,
kFlexSpiSerialClk_75MHz = 4,
kFlexSpiSerialClk_80MHz = 5,
kFlexSpiSerialClk_100MHz = 6,
kFlexSpiSerialClk_120MHz = 7,
kFlexSpiSerialClk_133MHz = 8,
kFlexSpiSerialClk_166MHz = 9,
} flexspi_serial_clk_freq_t;
#elif defined(CONFIG_ARCH_FAMILY_IMXRT117x)
//!@brief Definitions for FlexSPI Serial Clock Frequency
typedef enum _FlexSpiSerialClockFreq {
kFlexSpiSerialClk_30MHz = 1,
kFlexSpiSerialClk_50MHz = 2,
kFlexSpiSerialClk_60MHz = 3,
kFlexSpiSerialClk_80MHz = 4,
kFlexSpiSerialClk_100MHz = 5,
kFlexSpiSerialClk_100MHz = 5,
kFlexSpiSerialClk_120MHz = 6,
kFlexSpiSerialClk_133MHz = 7,
kFlexSpiSerialClk_166MHz = 8,
kFlexSpiSerialClk_200MHz = 9,
} flexspi_serial_clk_freq_t;
#endif
//!@brief FlexSPI clock configuration type
enum {
platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/imxrt_romapi.h
+6
View File
@@ -239,7 +239,9 @@ status_t ROM_FLEXSPI_NorFlash_Erase(uint32_t instance, flexspi_nor_config_t *con
* @retval kStatus_ROM_FLEXSPI_SequenceExecutionTimeout Sequence Execution timeout.
* @retval kStatus_ROM_FLEXSPI_DeviceTimeout the device timeout
*/
#ifdef CONFIG_ARCH_FAMILY_IMXRT117x
status_t ROM_FLEXSPI_NorFlash_EraseSector(uint32_t instance, flexspi_nor_config_t *config, uint32_t start);
#endif
/*!
* @brief Erase one block specified by address
@@ -259,7 +261,9 @@ status_t ROM_FLEXSPI_NorFlash_EraseSector(uint32_t instance, flexspi_nor_config_
* @retval kStatus_ROM_FLEXSPI_SequenceExecutionTimeout Sequence Execution timeout.
* @retval kStatus_ROM_FLEXSPI_DeviceTimeout the device timeout
*/
#ifdef CONFIG_ARCH_FAMILY_IMXRT117x
status_t ROM_FLEXSPI_NorFlash_EraseBlock(uint32_t instance, flexspi_nor_config_t *config, uint32_t start);
#endif
/*!
* @brief Erase all the Serial NOR devices connected on FLEXSPI.
@@ -342,10 +346,12 @@ status_t ROM_FLEXSPI_NorFlash_UpdateLut(uint32_t instance,
* @retval kStatus_ROM_FLEXSPI_InvalidSequence A invalid Sequence is provided.
* @retval kStatus_ROM_FLEXSPI_DeviceTimeout Device timeout.
*/
#ifdef CONFIG_ARCH_FAMILY_IMXRT117x
status_t ROM_FLEXSPI_NorFlash_WaitBusy(uint32_t instance,
flexspi_nor_config_t *config,
bool isParallelMode,
uint32_t address);
#endif
/*@}*/
/*!
platforms/nuttx/src/px4/nxp/imxrt/romapi/imxrt_romapi.c
+78 -1
View File
@@ -52,8 +52,29 @@ typedef union _standard_version {
#endif
} standard_version_t;
#ifdef CONFIG_ARCH_FAMILY_IMXRT106x
/*!
* @brief Interface for the ROM FLEXSPI NOR flash driver.
* @brief Interface for the IMXRT106X ROM FLEXSPI NOR flash driver.
*/
typedef struct {
uint32_t version;
status_t (*init)(uint32_t instance, flexspi_nor_config_t *config);
status_t (*page_program)(uint32_t instance, flexspi_nor_config_t *config, uint32_t dst_addr, const uint32_t *src);
status_t (*erase_all)(uint32_t instance, flexspi_nor_config_t *config);
status_t (*erase)(uint32_t instance, flexspi_nor_config_t *config, uint32_t start, uint32_t length);
status_t (*read)(uint32_t instance, flexspi_nor_config_t *config, uint32_t *dst, uint32_t start, uint32_t bytes);
void (*clear_cache)(uint32_t instance);
status_t (*xfer)(uint32_t instance, flexspi_xfer_t *xfer);
status_t (*update_lut)(uint32_t instance, uint32_t seqIndex, const uint32_t *lutBase, uint32_t numberOfSeq);
status_t (*get_config)(uint32_t instance, flexspi_nor_config_t *config, serial_nor_config_option_t *option);
} flexspi_nor_driver_interface_t;
#elif defined(CONFIG_ARCH_FAMILY_IMXRT117x)
/*!
* @brief Interface for the IMXRT117X ROM FLEXSPI NOR flash driver.
*/
typedef struct {
uint32_t version;
@@ -73,6 +94,33 @@ typedef struct {
const uint32_t reserved1[2]; /*!< Reserved */
} flexspi_nor_driver_interface_t;
#endif
#ifdef CONFIG_ARCH_FAMILY_IMXRT106x
/*!
* @brief Root of the bootloader api tree.
*
* An instance of this struct resides in read-only memory in the bootloader. It
* provides a user application access to APIs exported by the bootloader.
*
* @note The order of existing fields must not be changed.
*/
typedef struct {
const uint32_t version; //!< Bootloader version number
const char *copyright; //!< Bootloader Copyright
void (*runBootloader)(void *arg); //!< Function to start the bootloader executing
const uint32_t *reserved0; //!< Reserved
const flexspi_nor_driver_interface_t *flexSpiNorDriver; //!< FlexSPI NOR Flash API
const uint32_t *reserved1; //!< Reserved
const uint32_t *unused_rtwdogDriver;
const uint32_t *unused_wdogDriver;
const uint32_t *reserved2;
} bootloader_api_entry_t;
#elif defined(CONFIG_ARCH_FAMILY_IMXRT117x)
/*!
* @brief Root of the bootloader api tree.
*
@@ -89,6 +137,8 @@ typedef struct {
const uint32_t reserved[8]; /*!< Reserved */
} bootloader_api_entry_t;
#endif
/*******************************************************************************
* Variables
******************************************************************************/
@@ -104,6 +154,9 @@ static bootloader_api_entry_t *g_bootloaderTree = NULL;
locate_code(".ramfunc")
void ROM_API_Init(void)
{
#ifdef CONFIG_ARCH_FAMILY_IMXRT106x
g_bootloaderTree = ((bootloader_api_entry_t *) * (uint32_t *)0x0020001cU);
#else
if ((getreg32(IMXRT_ANADIG_MISC_MISC_DIFPROG) & ANADIG_MISC_MISC_DIFPROG_CHIPID(0x10U)) != 0U) {
g_bootloaderTree = ((bootloader_api_entry_t *) * (uint32_t *)0x0021001cU);
@@ -111,6 +164,8 @@ void ROM_API_Init(void)
} else {
g_bootloaderTree = ((bootloader_api_entry_t *) * (uint32_t *)0x0020001cU);
}
#endif
}
/*!
@@ -193,6 +248,8 @@ status_t ROM_FLEXSPI_NorFlash_Erase(uint32_t instance, flexspi_nor_config_t *con
return g_bootloaderTree->flexSpiNorDriver->erase(instance, config, start, length);
}
#ifdef CONFIG_ARCH_FAMILY_IMXRT117x
/*!
* @brief Erase one sector specified by address.
*
@@ -219,6 +276,8 @@ status_t ROM_FLEXSPI_NorFlash_EraseBlock(uint32_t instance, flexspi_nor_config_t
return g_bootloaderTree->flexSpiNorDriver->erase_block(instance, config, start);
}
#endif
/*! @brief Erase all the Serial NOR devices connected on FLEXSPI. */
locate_code(".ramfunc")
status_t ROM_FLEXSPI_NorFlash_EraseAll(uint32_t instance, flexspi_nor_config_t *config)
@@ -242,6 +301,19 @@ status_t ROM_FLEXSPI_NorFlash_UpdateLut(uint32_t instance,
return g_bootloaderTree->flexSpiNorDriver->update_lut(instance, seqIndex, lutBase, seqNumber);
}
#ifdef CONFIG_ARCH_FAMILY_IMXRT106x
/*! @brief Software reset for the FLEXSPI logic. */
locate_code(".ramfunc")
void ROM_FLEXSPI_NorFlash_ClearCache(uint32_t instance)
{
g_bootloaderTree->flexSpiNorDriver->clear_cache(instance);
}
#elif defined(CONFIG_ARCH_FAMILY_IMXRT117x)
/*! @brief Software reset for the FLEXSPI logic. */
locate_code(".ramfunc")
void ROM_FLEXSPI_NorFlash_ClearCache(uint32_t instance)
@@ -259,6 +331,9 @@ void ROM_FLEXSPI_NorFlash_ClearCache(uint32_t instance)
MISRA_CAST(clearCacheCommand_t, clearCacheCommand, uint32_t, clearCacheFunctionAddress);
(void)clearCacheCommand(instance);
}
#endif
#ifdef CONFIG_ARCH_FAMILY_IMXRT117x
/*! @brief Wait until device is idle*/
locate_code(".ramfunc")
@@ -269,3 +344,5 @@ status_t ROM_FLEXSPI_NorFlash_WaitBusy(uint32_t instance,
{
return g_bootloaderTree->flexSpiNorDriver->wait_busy(instance, config, isParallelMode, address);
}
#endif
platforms/nuttx/src/px4/nxp/rt106x/CMakeLists.txt
+1
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@@ -36,6 +36,7 @@ add_subdirectory(../imxrt/adc adc)
add_subdirectory(../imxrt/board_critmon board_critmon)
add_subdirectory(../imxrt/board_hw_info board_hw_info)
add_subdirectory(../imxrt/board_reset board_reset)
add_subdirectory(../imxrt/romapi romapi)
add_subdirectory(../imxrt/dshot dshot)
add_subdirectory(../imxrt/hrt hrt)
add_subdirectory(../imxrt/led_pwm led_pwm)
platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/imxrt_flexspi_nor_flash.h
+36
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@@ -0,0 +1,36 @@
/****************************************************************************
*
* 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 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.
*
****************************************************************************/
#pragma once
#include "../../../imxrt/include/px4_arch/imxrt_flexspi_nor_flash.h"
platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/imxrt_romapi.h
+36
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@@ -0,0 +1,36 @@
/****************************************************************************
*
* 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 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.
*
****************************************************************************/
#pragma once
#include "../../../imxrt/include/px4_arch/imxrt_romapi.h"