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nxp_ucans32k146:Add Can Bootloader build

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nxp_ucans32k146:Relocation for Bootloader

nxp_ucans32k146:can_boot enable CAN

nxp_ucans32k146:Save Space use Non Optimize memcpy

nxp_ucans32k146:Increase to 24K

nxp/ucans32k146:Canbootloader LED Driver

nxp_ucans32k146:Can bootloader shut down CAN

nxp_ucans32k146:Use NVMEEPROM for Paramaters

nxp_ucans32k146:Use bootloader AppDescriptor

px4 mtd:Support onchip emulated eeprom
This commit is contained in:
David Sidrane
2021-02-24 19:20:15 +01:00
committed by Lorenz Meier
parent 62c0c96749
commit dd3c3098f2
18 changed files with 921 additions and 63 deletions
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boards/nxp/ucans32k146/src/led.cpp
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/****************************************************************************
*
* Copyright (C) 2021 PX4 Development Team. All rights reserved.
* Author: 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 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.
*
****************************************************************************/
#include <px4_config.h>
#include <stdint.h>
#include <stdbool.h>
#include <arch/board/board.h>
#include "led.h"
#include <drivers/drv_pwm_output.h>
#include <px4_arch/io_timer.h>
#include "s32k1xx_pin.h"
#include "hardware/s32k1xx_ftm.h"
#define REG(offset) (*(volatile uint32_t *)(S32K1XX_FTM0_BASE + (offset)))
#define rSC() REG(S32K1XX_FTM_SC_OFFSET)
#define rCNT() REG(S32K1XX_FTM_CNT_OFFSET)
#define rMOD() REG(S32K1XX_FTM_MOD_OFFSET)
#define FTM_SRC_CLOCK_FREQ 8000000
#define LED_PWM_FREQ 1000000
extern int led_pwm_servo_set(unsigned channel, uint8_t value);
extern int led_pwm_servo_init(void);
void rgb_led(int r, int g, int b, int freqs)
{
long fosc = FTM_SRC_CLOCK_FREQ;
long prescale = 128;
long p1s = fosc / prescale;
long p0p5s = p1s / 2;
long p = freqs == 0 ? p1s : p1s / freqs;
static bool once = false;
if (!once) {
once = true;
led_pwm_servo_init();
}
irqstate_t flags = px4_enter_critical_section();
uint32_t save = rSC();
rSC() = save & ~(FTM_SC_CLKS_MASK);
rMOD() = p;
rSC() = save | FTP_SC_PS_DIV128;
px4_leave_critical_section(flags);
p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
led_pwm_servo_set(0, r * p);
led_pwm_servo_set(1, g * p);
led_pwm_servo_set(2, b * p);
if (freqs == 0) {
rSC() |= FTM_SC_CLKS_DIS;
} else {
rSC() &= ~FTM_SC_CLKS_DIS;
}
}