v6x-rt: move romapi to platform

boards/px4/fmu-v6xrt/src/CMakeLists.txt

@@ -36,7 +36,6 @@ if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
 		bootloader_main.c
 		init.c
 		usb.c
-		imxrt_romapi.c
 		imxrt_flexspi_nor_boot.c
 		imxrt_flexspi_nor_flash.c
 		imxrt_clockconfig.c
@@ -48,6 +47,7 @@ if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
 			nuttx_drivers # sdio
 			px4_layer #gpio
 			arch_io_pins # iotimer
+			arch_board_romapi
 			bootloader
 	)
 	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
@@ -72,7 +72,6 @@ else()
 		spi.cpp
 		timer_config.cpp
 		usb.c
-		imxrt_romapi.c
 		imxrt_flexspi_fram.c
 		imxrt_flexspi_nor_boot.c
 		imxrt_flexspi_nor_flash.c
@@ -83,6 +82,7 @@ else()
 	target_link_libraries(drivers_board
 		PRIVATE
 			arch_board_hw_info
+			arch_board_romapi
 			arch_spi
 			drivers__led # drv_led_start
 			nuttx_arch # sdio

boards/px4/fmu-v6xrt/src/imxrt_flexspi_nor_flash.c

@@ -22,7 +22,7 @@
  * Included Files
  ****************************************************************************/
 
-#include "imxrt_flexspi_nor_flash.h"
+#include <px4_arch/imxrt_flexspi_nor_flash.h>
 
 /****************************************************************************
  * Public Data

boards/px4/fmu-v6xrt/src/init.c

@@ -66,8 +66,7 @@
 
 #include "arm_internal.h"
 #include "imxrt_flexspi_nor_boot.h"
-#include "imxrt_flexspi_nor_flash.h"
+#include <px4_arch/imxrt_flexspi_nor_flash.h>
-#include "imxrt_romapi.h"
 #include "imxrt_iomuxc.h"
 #include "imxrt_flexcan.h"
 #include "imxrt_enet.h"
@@ -79,10 +78,12 @@
 
 #include <arch/board/board.h>
 
+
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_board_led.h>
 #include <systemlib/px4_macros.h>
 #include <px4_arch/io_timer.h>
+#include <px4_arch/imxrt_romapi.h>
 #include <px4_platform_common/init.h>
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_determine_hw_info.h>

platforms/nuttx/src/bootloader/nxp/imxrt_common/main.c

@@ -7,8 +7,8 @@
 #include <px4_defines.h>
 
 #include "hw_config.h"
-#include "imxrt_flexspi_nor_flash.h"
+#include <px4_arch/imxrt_flexspi_nor_flash.h>
-#include "imxrt_romapi.h"
+#include <px4_arch/imxrt_romapi.h>
 #include <hardware/rt117x/imxrt117x_ocotp.h>
 #include <hardware/rt117x/imxrt117x_anadig.h>
 #include <hardware/rt117x/imxrt117x_snvs.h>

platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/imxrt_flexspi_nor_flash.h

@@ -1,5 +1,5 @@
 /****************************************************************************
- * boards/px4/fmu-v6xrt/src/imxrt_flexspi_nor_flash.h
+ * platforms/nuttx/src/px4/nxp/imrt/include/px4_arch/imxrt_flexspi_nor_flash.h
  *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
@@ -18,8 +18,8 @@
  *
  ****************************************************************************/
 
-#ifndef __BOARDS_PX4_FMU_V6XRT_SRC_IMXRT_FLEXSPI_NOR_FLASH_H
+#ifndef __PX4_ARCH_IMXRT_FLEXSPI_NOR_FLASH_H
-#define __BOARDS_PX4_FMU_V6XRT_SRC_IMXRT_FLEXSPI_NOR_FLASH_H
+#define __PX4_ARCH_IMXRT_FLEXSPI_NOR_FLASH_H
 
 /****************************************************************************
  * Included Files
@@ -349,4 +349,4 @@ extern const struct flexspi_nor_config_s g_flash_config;
 extern const struct flexspi_nor_config_s g_flash_fast_config;
 
 
-#endif /* __BOARDS_PX4_FMU_V6XRT_SRC_IMXRT_FLEXSPI_NOR_FLASH_H */
+#endif /* __PX4_ARCH_IMXRT_FLEXSPI_NOR_FLASH_H */

platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/imxrt_romapi.h

@@ -1,14 +1,14 @@
 /****************************************************************************
- * boards/px4/fmu-v6xrt/src/imxrt_romapi.c
+ * platforms/nuttx/src/px4/nxp/imrt/include/px4_arch/imxrt_romapi.h
  *
- * Copyright 2017-2020 NXP
+ * Copyright 2017-2024 NXP
  * All rights reserved.
  *
  * SPDX-License-Identifier: BSD-3-Clause
  *
 ****************************************************************************/
-#ifndef __BOARDS_PX4_FMU_V6XRT_SRC_IMXRT_ROMAPI_H
+#ifndef __PX4_ARCH_IMXRT_ROMAPI_H
-#define __BOARDS_PX4_FMU_V6XRT_SRC_IMXRT_ROMAPI_H
+#define __PX4_ARCH_IMXRT_ROMAPI_H
 
 /****************************************************************************
  *
@@ -370,4 +370,8 @@ void ROM_FLEXSPI_NorFlash_ClearCache(uint32_t instance);
 
 /*@}*/
 
-#endif /* __BOARDS_PX4_FMU_V6XRT_SRC_IMXRT_ROMAPI_H */
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __PX4_ARCH_IMXRT_ROMAPI_H */

platforms/nuttx/src/px4/nxp/imxrt/romapi/CMakeLists.txt

@@ -0,0 +1,36 @@
+############################################################################
+#
+#   Copyright (c) 2019 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.
+#
+############################################################################
+
+px4_add_library(arch_board_romapi
+	imxrt_romapi.c
+)

platforms/nuttx/src/px4/nxp/imxrt/romapi/imxrt_romapi.c

@@ -1,7 +1,7 @@
 /****************************************************************************
- * boards/px4/fmu-v6xrt/src/imxrt_romapi.c
+ * platforms/nuttx/src/px4/nxp/imrt/romapi/imxrt_romapi.c
  *
- * Copyright 2017-2020 NXP
+ * Copyright 2017-2024 NXP
  * All rights reserved.
  *
  * SPDX-License-Identifier: BSD-3-Clause
@@ -22,8 +22,8 @@
 
 #include "arm_internal.h"
 
-#include "imxrt_flexspi_nor_flash.h"
+#include <px4_arch/imxrt_flexspi_nor_flash.h>
-#include "imxrt_romapi.h"
+#include <px4_arch/imxrt_romapi.h>
 
 #include <hardware/rt117x/imxrt117x_anadig.h>
 

platforms/nuttx/src/px4/nxp/rt117x/CMakeLists.txt

@@ -36,7 +36,7 @@ add_subdirectory(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/dshot dshot)
+add_subdirectory(../imxrt/romapi romapi)
 add_subdirectory(../imxrt/hrt hrt)
 add_subdirectory(../imxrt/led_pwm led_pwm)
 add_subdirectory(../imxrt/io_pins io_pins)

platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/imxrt_flexspi_nor_flash.h

@@ -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/rt117x/include/px4_arch/imxrt_romapi.h

@@ -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"