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imxrt: dshot add 1060 support and use channels instead of timers

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This commit is contained in:
Peter van der Perk
2024-05-30 04:56:42 -04:00
committed by David Sidrane
parent e2969952d3
commit b0cb697f71
11 changed files with 123 additions and 43 deletions
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boards/px4/fmu-v6xrt/nuttx-config/include/board.h
+4
View File
@@ -267,6 +267,10 @@
// This is the ENET_1G interface.
/* Dshot Disambiguation *******************************************************/
#define IOMUX_DSHOT_DEFAULT (IOMUX_DRIVE_HIGHSTRENGTH | IOMUX_SLEW_FAST)
// Compile time selection
#if defined(CONFIG_ETH0_PHY_TJA1103)
# define BOARD_PHY_ADDR (18)
boards/px4/fmu-v6xrt/src/imxrt_clockconfig.c
+1 -1
View File
@@ -114,7 +114,7 @@ const struct clock_configuration_s g_initial_clkconfig = {
.div = 1,
.mux = ACMP_CLK_ROOT_OSC_RC_48M_DIV2,
},
.flexio1_clk_root =
.flexio1_clk_root = /* 240 / 2 = 120Mhz */
{
.enable = 1,
.div = 2,
boards/px4/fmu-v6xrt/src/timer_config.cpp
+16 -16
View File
@@ -91,14 +91,14 @@
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule0, GPIO_FLEXIO1_FLEXIO23_1, 23),
initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule1, GPIO_FLEXIO1_FLEXIO25_1, 25),
initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule2, GPIO_FLEXIO1_FLEXIO27_1, 27),
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule0, GPIO_FLEXIO1_FLEXIO06_1, 6),
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule1, GPIO_FLEXIO1_FLEXIO08_1, 8),
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule2, GPIO_FLEXIO1_FLEXIO10_1, 10),
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule3, GPIO_FLEXIO1_FLEXIO19_1, 19),
initIOPWMDshot(PWM::FlexPWM3, PWM::Submodule0, GPIO_FLEXIO1_FLEXIO29_1, 29),
initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule0),
initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule1),
initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule2),
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule0),
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule1),
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule2),
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule3),
initIOPWMDshot(PWM::FlexPWM3, PWM::Submodule0),
initIOPWM(PWM::FlexPWM3, PWM::Submodule1),
initIOPWM(PWM::FlexPWM3, PWM::Submodule3),
initIOPWM(PWM::FlexPWM4, PWM::Submodule0),
@@ -106,14 +106,14 @@ constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
};
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
/* FMU_CH1 */ initIOTimerChannel(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_23),
/* FMU_CH2 */ initIOTimerChannel(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_25),
/* FMU_CH3 */ initIOTimerChannel(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_B1_27),
/* FMU_CH4 */ initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_06),
/* FMU_CH5 */ initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_08),
/* FMU_CH6 */ initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_B1_10),
/* FMU_CH7 */ initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule3}, IOMUX::Pad::GPIO_EMC_B1_19),
/* FMU_CH8 */ initIOTimerChannel(io_timers, {PWM::PWM3_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_29),
/* FMU_CH1 */ initIOTimerChannelDshot(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_23, GPIO_FLEXIO1_FLEXIO23_1 | IOMUX_DSHOT_DEFAULT, 23),
/* FMU_CH2 */ initIOTimerChannelDshot(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_25, GPIO_FLEXIO1_FLEXIO25_1 | IOMUX_DSHOT_DEFAULT, 25),
/* FMU_CH3 */ initIOTimerChannelDshot(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_B1_27, GPIO_FLEXIO1_FLEXIO27_1 | IOMUX_DSHOT_DEFAULT, 27),
/* FMU_CH4 */ initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_06, GPIO_FLEXIO1_FLEXIO06_1 | IOMUX_DSHOT_DEFAULT, 6),
/* FMU_CH5 */ initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_08, GPIO_FLEXIO1_FLEXIO08_1 | IOMUX_DSHOT_DEFAULT, 8),
/* FMU_CH6 */ initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_B1_10, GPIO_FLEXIO1_FLEXIO10_1 | IOMUX_DSHOT_DEFAULT, 10),
/* FMU_CH7 */ initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule3}, IOMUX::Pad::GPIO_EMC_B1_19, GPIO_FLEXIO1_FLEXIO19_1 | IOMUX_DSHOT_DEFAULT, 19),
/* FMU_CH8 */ initIOTimerChannelDshot(io_timers, {PWM::PWM3_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_29, GPIO_FLEXIO1_FLEXIO29_1 | IOMUX_DSHOT_DEFAULT, 29),
/* FMU_CH9 */ initIOTimerChannel(io_timers, {PWM::PWM3_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_31),
/* FMU_CH10 */ initIOTimerChannel(io_timers, {PWM::PWM3_PWM_A, PWM::Submodule3}, IOMUX::Pad::GPIO_EMC_B1_21),
/* FMU_CH11 */ initIOTimerChannel(io_timers, {PWM::PWM4_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_00),