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tropic: enable dshot

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Peter van der Perk 2024-03-10 15:40:22 +01:00 committed by Daniel Agar
parent 8f2ede870e
commit df54caba1e
5 changed files with 56 additions and 17 deletions
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5
boards/nxp/tropic/default.px4board
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@ -9,6 +9,7 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
CONFIG_DRIVERS_CAMERA_CAPTURE=y
CONFIG_DRIVERS_CAMERA_TRIGGER=y
CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
@ -22,10 +23,10 @@ CONFIG_DRIVERS_POWER_MONITOR_INA238=y
CONFIG_DRIVERS_PWM_OUT=y
CONFIG_DRIVERS_RC_INPUT=y
CONFIG_DRIVERS_SAFETY_BUTTON=y
CONFIG_DRIVERS_UAVCAN=y
CONFIG_BOARD_UAVCAN_INTERFACES=1
CONFIG_COMMON_TELEMETRY=y
CONFIG_DRIVERS_TONE_ALARM=y
CONFIG_DRIVERS_UAVCAN=y
CONFIG_BOARD_UAVCAN_INTERFACES=1
CONFIG_MODULES_BATTERY_STATUS=y
CONFIG_MODULES_CAMERA_FEEDBACK=y
CONFIG_MODULES_COMMANDER=y

8
boards/nxp/tropic/nuttx-config/include/board.h
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@ -133,6 +133,14 @@
#define BOARD_GPT_FREQUENCY \
(BOARD_CPU_FREQUENCY / IMXRT_IPG_PODF_DIVIDER) / IMXRT_PERCLK_PODF_DIVIDER
/* 108Mhz clock for FlexIO using PLL3 PFD2 @ 520 */
#define CONFIG_FLEXIO1_CLK 1
#define CONFIG_FLEXIO1_PRED_DIVIDER 5
#define CONFIG_FLEXIO1_PODF_DIVIDER 1
#define CONFIG_PLL3_PFD2_FRAC 16
#define BOARD_FLEXIO_PREQ 108000000
/* Define this to enable tracing */
#if CONFIG_USE_TRACE
# define IMXRT_TRACE_PODF_DIVIDER 1

1
boards/nxp/tropic/nuttx-config/scripts/itcm_functions_includes.ld
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@ -101,6 +101,7 @@
*(.text.imxrt_dispatch)
*(.text.arp_arpin)
*(.text.ipv4_input)
*(.text.flexio_irq_handler)
*(.text.work_thread)

38
boards/nxp/tropic/src/init.c
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@ -76,6 +76,7 @@
#include <hardware/imxrt_lpuart.h>
#undef FLEXSPI_LUT_COUNT
#include <hardware/imxrt_flexspi.h>
#include <hardware/imxrt_ccm.h>
#include <arch/board/board.h>
@ -87,10 +88,6 @@
#include <px4_platform/gpio.h>
#include <px4_platform/board_dma_alloc.h>
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/*
@ -318,6 +315,38 @@ int imxrt_phy_boardinitialize(int intf)
return OK;
}
void imxrt_flexio_clocking(void)
{
uint32_t reg;
/* Init USB PLL3 PFD2 */
reg = getreg32(IMXRT_CCM_ANALOG_PFD_480);
while ((getreg32(IMXRT_CCM_ANALOG_PLL_USB1) &
CCM_ANALOG_PLL_USB1_LOCK) == 0) {
}
reg &= ~CCM_ANALOG_PFD_480_PFD2_FRAC_MASK;
/* Set PLL3 PFD2 to 480 * 18 / CONFIG_PLL3_PFD2_FRAC */
reg |= ((uint32_t)(CONFIG_PLL3_PFD2_FRAC) << CCM_ANALOG_PFD_480_PFD3_FRAC_SHIFT);
putreg32(reg, IMXRT_CCM_ANALOG_PFD_480);
reg = getreg32(IMXRT_CCM_CDCDR);
reg &= ~(CCM_CDCDR_FLEXIO1_CLK_SEL_MASK |
CCM_CDCDR_FLEXIO1_CLK_PODF_MASK |
CCM_CDCDR_FLEXIO1_CLK_PRED_MASK);
reg |= CCM_CDCDR_FLEXIO1_CLK_SEL(CONFIG_FLEXIO1_CLK);
reg |= CCM_CDCDR_FLEXIO1_CLK_PODF
(CCM_PODF_FROM_DIVISOR(CONFIG_FLEXIO1_PODF_DIVIDER));
reg |= CCM_CDCDR_FLEXIO1_CLK_PRED
(CCM_PRED_FROM_DIVISOR(CONFIG_FLEXIO1_PRED_DIVIDER));
putreg32(reg, IMXRT_CCM_CDCDR);
}
/****************************************************************************
* Name: board_app_initialize
@ -345,6 +374,7 @@ int imxrt_phy_boardinitialize(int intf)
****************************************************************************/
__EXPORT int board_app_initialize(uintptr_t arg)
{
imxrt_flexio_clocking();
/* Power on Interfaces */

21
boards/nxp/tropic/src/timer_config.cpp
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@ -75,27 +75,26 @@
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
initIOPWM(PWM::FlexPWM2, PWM::Submodule0), // PWM_1, PMW_5
initIOPWM(PWM::FlexPWM2, PWM::Submodule1), // PWM_0
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule0), // PWM_1, PMW_5
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule1), // PWM_0
initIOPWM(PWM::FlexPWM2, PWM::Submodule2), // PWM_4
initIOPWM(PWM::FlexPWM4, PWM::Submodule2), // PWM_2, PWM_3
initIOPWMDshot(PWM::FlexPWM4, PWM::Submodule2), // PWM_2, PWM_3
};
/* Using PWM_4 and PWM_5 breaks PWM needs driver fixup */
#define FXIO_IOMUX (IOMUX_SLEW_FAST | IOMUX_DRIVE_130OHM | IOMUX_PULL_UP_47K | IOMUX_SCHMITT_TRIGGER)
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_06), /* RevA. PWM_1 RevB. PWM1 */
initIOTimerChannel(io_timers, {PWM::PWM2_PWM_B, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_07), /* RevA. PWM_5 RevB. PWM2 */
initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_08), /* RevA. PWM_0 RevB. PWM3 */
initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_06, GPIO_FLEXIO1_FLEXIO06_1 | FXIO_IOMUX, 6), /* RevA. PWM_1 RevB. PWM1 */
initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_B, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_07, GPIO_FLEXIO1_FLEXIO07_1 | FXIO_IOMUX, 7), /* RevA. PWM_5 RevB. PWM2 */
initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_08, GPIO_FLEXIO1_FLEXIO08_1 | FXIO_IOMUX, 8), /* RevA. PWM_0 RevB. PWM3 */
initIOTimerChannel(io_timers, {PWM::PWM2_PWM_B, PWM::Submodule2}, IOMUX::Pad::GPIO_B0_11), /* RevA. PWM_4 RevB. PWM4 */
initIOTimerChannel(io_timers, {PWM::PWM4_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_04), /* RevA. PWM_3 RevB. PWM5 */
initIOTimerChannel(io_timers, {PWM::PWM4_PWM_B, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_05), /* RevA. PWM_2 RevB. PWM6 */
initIOTimerChannelDshot(io_timers, {PWM::PWM4_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_04, GPIO_FLEXIO1_FLEXIO04_1 | FXIO_IOMUX, 4), /* RevA. PWM_3 RevB. PWM5 */
initIOTimerChannelDshot(io_timers, {PWM::PWM4_PWM_B, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_05, GPIO_FLEXIO1_FLEXIO05_1 | FXIO_IOMUX, 5), /* RevA. PWM_2 RevB. PWM6 */
};
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
initIOTimerChannelMapping(io_timers, timer_io_channels);
constexpr io_timers_t led_pwm_timers[MAX_LED_TIMERS] = {
};