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PX4-Autopilot/nuttx-configs/nxphlite-v3/include/board.h
T
David Sidrane 7cde985e27 WIP nxphlite-v3 
Configure Clocking, USB and Console on LPUART
2017-09-29 10:13:51 -04:00

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/************************************************************************************
* configs/nxphlit-v3/include/board.h
*
* Copyright (C) 2016-2017 Gregory Nutt. All rights reserved.
* Authors: Gregory Nutt <gnutt@nuttx.org>
* Jordan MacIntyre
* 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 NuttX 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.
*
************************************************************************************/
#ifndef __CONFIG_NXPHLITE_V3_INCLUDE_BOARD_H
#define __CONFIG_NXPHLITE_V3_INCLUDE_BOARD_H
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#ifndef __ASSEMBLY__
# include <stdint.h>
#endif
#include <arch/chip/chip.h>
/************************************************************************************
* Pre-processor Definitions
************************************************************************************/
/*
* The NXPHlite-v3 is populated with a MK66FN2M0VLQ18 has 2 MiB of FLASH and
* 256 KiB of SRAM.
*/
/* Clocking *************************************************************************/
/* The NXPHlite-v3 uses a 16MHz external Oscillator. The Kinetis MCU startup from an
* internal digitally-controlled oscillator (DCO). Nuttx will enable the main external
* oscillator (EXTAL0/XTAL0). The external oscillator/resonator can range from
* 32.768 KHz up to 50 MHz. The default external source for the MCG oscillator inputs
* EXTAL.
*
* Y1 a High-frequency, low-power Xtal
*/
#define BOARD_EXTAL_LP 1
#define BOARD_EXTAL_FREQ 16000000 /* 16MHz Oscillator Y1 */
#define BOARD_XTAL32_FREQ 32768 /* 32KHz RTC Oscillator */
/* PLL Configuration. Either the external clock or crystal frequency is used to
* select the PRDIV value. Only reference clock frequencies are supported that will
* produce a KINETIS_MCG_PLL_REF_MIN >= PLLIN <=KINETIS_MCG_PLL_REF_MAX
* reference clock to the PLL.
*
* PLL Input frequency: PLLIN = REFCLK / PRDIV = 16 MHz / 2 = 8Mhz MHz
* PLL Output frequency: PLLOUT = PLLIN * VDIV = 8 MHz * 42 = 336 MHz
* MCG Frequency: PLLOUT = 168 Mhz = 336 MHz / KINETIS_MCG_PLL_INTERNAL_DIVBY
*
* PRDIV register value is the divider minus KINETIS_MCG_C5_PRDIV_BASE.
* VDIV register value is offset by KINETIS_MCG_C6_VDIV_BASE.
*/
#define BOARD_PRDIV 2 /* PLL External Reference Divider */
#define BOARD_VDIV 42 /* PLL VCO Divider (frequency multiplier) */
/* Define additional MCG_C2 Setting */
#define BOARD_MCG_C2_FCFTRIM 0 /* Do not enable FCFTRIM */
#define BOARD_MCG_C2_LOCRE0 MCG_C2_LOCRE0 /* Enable reset on loss of clock */
#define BOARD_PLLIN_FREQ (BOARD_EXTAL_FREQ / BOARD_PRDIV)
#define BOARD_PLLOUT_FREQ (BOARD_PLLIN_FREQ * BOARD_VDIV)
#define BOARD_MCG_FREQ (BOARD_PLLOUT_FREQ/KINETIS_MCG_PLL_INTERNAL_DIVBY)
/* SIM CLKDIV1 dividers */
#define BOARD_OUTDIV1 1 /* Core = MCG, 168 MHz */
#define BOARD_OUTDIV2 3 /* Bus = MCG / 3, 56 MHz */
#define BOARD_OUTDIV3 3 /* FlexBus = MCG / 3, 56 MHz */
#define BOARD_OUTDIV4 6 /* Flash clock = MCG / 6, 28 MHz */
#define BOARD_CORECLK_FREQ (BOARD_MCG_FREQ / BOARD_OUTDIV1)
#define BOARD_BUS_FREQ (BOARD_MCG_FREQ / BOARD_OUTDIV2)
#define BOARD_FLEXBUS_FREQ (BOARD_MCG_FREQ / BOARD_OUTDIV3)
#define BOARD_FLASHCLK_FREQ (BOARD_MCG_FREQ / BOARD_OUTDIV4)
/* Use BOARD_MCG_FREQ as the output SIM_SOPT2 MUX selected by
* SIM_SOPT2[PLLFLLSEL]
*/
#define BOARD_SOPT2_PLLFLLSEL SIM_SOPT2_PLLFLLSEL_MCGPLLCLK
#define BOARD_SOPT2_FREQ BOARD_MCG_FREQ
/* Divider output clock = Divider input clock × [ (USBFRAC+1) / (USBDIV+1) ]
* SIM_CLKDIV2_FREQ = BOARD_SOPT2_FREQ × [ (USBFRAC+1) / (USBDIV+1) ]
* 48Mhz = 168Mhz X [(1 + 1) / (6 + 1)]
* 48Mhz = 168Mhz / (6 + 1) * (1 + 1)
*/
#define BOARD_SIM_CLKDIV2_USBFRAC 2
#define BOARD_SIM_CLKDIV2_USBDIV 7
#define BOARD_SIM_CLKDIV2_FREQ (BOARD_SOPT2_FREQ / \
BOARD_SIM_CLKDIV2_USBDIV * \
BOARD_SIM_CLKDIV2_USBFRAC)
#define BOARD_USB_CLKSRC SIM_SOPT2_USBSRC
#define BOARD_USB_FREQ BOARD_SIM_CLKDIV2_FREQ
/* Divider output clock = Divider input clock * ((PLLFLLFRAC+1)/(PLLFLLDIV+1))
* SIM_CLKDIV3_FREQ = BOARD_SOPT2_FREQ × [ (PLLFLLFRAC+1) / (PLLFLLDIV+1)]
* 84 Mhz = 168 Mhz X [(0 + 1) / (1 + 1)]
* 84 Mhz = 168 Mhz / (1 + 1) * (0 + 1)
*/
#define BOARD_SIM_CLKDIV3_PLLFLLFRAC 1
#define BOARD_SIM_CLKDIV3_PLLFLLDIV 2
#define BOARD_SIM_CLKDIV3_FREQ (BOARD_SOPT2_FREQ / \
BOARD_SIM_CLKDIV3_PLLFLLDIV * \
BOARD_SIM_CLKDIV3_PLLFLLFRAC)
#define BOARD_LPUART0_CLKSRC SIM_SOPT2_LPUARTSRC_MCGCLK
#define BOARD_LPUART0_FREQ BOARD_SIM_CLKDIV3_FREQ
#define BOARD_TPM_CLKSRC SIM_SOPT2_TPMSRC_MCGCLK
#define BOARD_TPM_FREQ BOARD_SIM_CLKDIV3_FREQ
/* SDHC clocking ********************************************************************/
/* SDCLK configurations corresponding to various modes of operation. Formula is:
*
* SDCLK frequency = (base clock) / (prescaler * divisor)
*
* The SDHC module is always configure configured so that the core clock is the base
* clock. Possible values for presscaler and divisor are:
*
* SDCLKFS: {2, 4, 8, 16, 32, 63, 128, 256}
* DVS: {1..16}
*/
/* Identification mode: Optimal 400KHz, Actual 168Mhz / (32 * 14) = 375 KHz */
#define BOARD_SDHC_IDMODE_PRESCALER SDHC_SYSCTL_SDCLKFS_DIV32
#define BOARD_SDHC_IDMODE_DIVISOR SDHC_SYSCTL_DVS_DIV(14)
/* MMC normal mode: Optimal 20MHz, Actual 168Mhz / (2 * 5) = 16.8 MHz */
#define BOARD_SDHC_MMCMODE_PRESCALER SDHC_SYSCTL_SDCLKFS_DIV2
#define BOARD_SDHC_MMCMODE_DIVISOR SDHC_SYSCTL_DVS_DIV(5)
/* SD normal mode (1-bit): Optimal 20MHz, Actual 168Mhz / (2 * 5) = 16.8 MHz */
#define BOARD_SDHC_SD1MODE_PRESCALER SDHC_SYSCTL_SDCLKFS_DIV2
#define BOARD_SDHC_SD1MODE_DIVISOR SDHC_SYSCTL_DVS_DIV(5)
/* SD normal mode (4-bit): Optimal 25MHz, Actual Actual 168Mhz / (2 * 4) = 21 MHz (with DMA)
* SD normal mode (4-bit): Optimal 20MHz, Actual 168Mhz / (2 * 5) = 16.8 MHz (no DMA)
*/
#ifdef CONFIG_KINETIS_SDHC_DMA
# define BOARD_SDHC_SD4MODE_PRESCALER SDHC_SYSCTL_SDCLKFS_DIV2
# define BOARD_SDHC_SD4MODE_DIVISOR SDHC_SYSCTL_DVS_DIV(4)
#else
# define BOARD_SDHC_SD4MODE_PRESCALER SDHC_SYSCTL_SDCLKFS_DIV2
# define BOARD_SDHC_SD4MODE_DIVISOR SDHC_SYSCTL_DVS_DIV(5)
#endif
/* LED definitions ******************************************************************/
/* The NXPHlite-v3 has a separate Red, Green and Blue LEDs driven by the K66 as
* follows:
*
* LED K66
* ------ -------------------------------------------------------
* RED FB_CS0_b/ UART2_CTS_b / ADC0_SE5b / SPI0_SCK / FTM3_CH1/ PTD1
* GREEN FTM2_FLT0/ CMP0_IN3/ FB_AD6 / I2S0_RX_BCLK/ FTM3_CH5/ ADC1_SE5b/ PTC9
* BLUE CMP0_IN2/ FB_AD7 / I2S0_MCLK/ FTM3_CH4/ ADC1_SE4b/ PTC8
*
* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any
* way. The following definitions are used to access individual LEDs.
*/
/* LED index values for use with board_userled() */
#define BOARD_LED_R 0
#define BOARD_LED_G 1
#define BOARD_LED_B 2
#define BOARD_NLEDS 3
/* LED bits for use with board_userled_all() */
#define BOARD_LED_R_BIT (1 << BOARD_LED_R)
#define BOARD_LED_G_BIT (1 << BOARD_LED_G)
#define BOARD_LED_B_BIT (1 << BOARD_LED_B)
/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the LED on board
* the NXPHlite-v3. The following definitions describe how NuttX controls
* the LEDs:
*
* SYMBOL Meaning LED state
* RED GREEN BLUE
* ------------------- ---------------------------- ----------------- */
#define LED_STARTED 1 /* NuttX has been started OFF OFF OFF */
#define LED_HEAPALLOCATE 2 /* Heap has been allocated OFF OFF ON */
#define LED_IRQSENABLED 0 /* Interrupts enabled OFF OFF ON */
#define LED_STACKCREATED 3 /* Idle stack created OFF ON OFF */
#define LED_INIRQ 0 /* In an interrupt (no change) */
#define LED_SIGNAL 0 /* In a signal handler (no change) */
#define LED_ASSERTION 0 /* An assertion failed (no change) */
#define LED_PANIC 4 /* The system has crashed FLASH OFF OFF */
#undef LED_IDLE /* K66 is in sleep mode (Not used) */
/* Alternative pin resolution *******************************************************/
/* If there are alternative configurations for various pins in the
* kinetis_k66pinmux.h header file, those alternative pins will be labeled with a
* suffix like _1, _2, etc. The logic in this file must select the correct pin
* configuration for the board by defining a pin configuration (with no suffix) that
* maps to the correct alternative.
*/
/* CAN
*
*/
#define PIN_CAN0_RX PIN_CAN0_RX_2
#define PIN_CAN0_TX PIN_CAN0_TX_2
/* 12C
*
*/
/* I2C0 MPL3115A2 Pressure Sensor */
#define PIN_I2C0_SCL PIN_I2C0_SCL_4 /* PTE24 P_SCL */
#define PIN_I2C0_SDA PIN_I2C0_SDA_4 /* PTE25 P_SDA */
/* I2C1 NFC Connector */
#define PIN_I2C1_SCL PIN_I2C1_SCL_1 /* PTC10 NFC_SCL P2-2 */
#define PIN_I2C1_SDA PIN_I2C1_SDA_1 /* PTC11 NFC_SDA P2-3 */
/* PWM
*
*/
/* PWM Channels */
#define GPIO_FTM3_CH0OUT PIN_FTM3_CH0_2 /* PTE5 PWM1 P4-34 */
#define GPIO_FTM3_CH1OUT PIN_FTM3_CH1_2 /* PTE6 PWM2 P4-31 */
#define GPIO_FTM3_CH2OUT PIN_FTM3_CH2_2 /* PTE7 PWM3 P4-28 */
#define GPIO_FTM3_CH3OUT PIN_FTM3_CH3_2 /* PTE8 PWM4 P4-25 */
#define GPIO_FTM3_CH4OUT PIN_FTM3_CH4_2 /* PTE9 PWM5 P4-22 */
#define GPIO_FTM3_CH5OUT PIN_FTM3_CH5_2 /* PTE10 PWM6 P4-29 */
#define GPIO_FTM3_CH6OUT PIN_FTM3_CH6_2 /* PTE11 PWM7 P4-26 */
#define GPIO_FTM3_CH7OUT PIN_FTM3_CH7_2 /* PTE12 PWM8 P4-13 */
#define GPIO_FTM0_CH4OUT PIN_FTM0_CH4_3 /* PTD4 PWM0 P4-46 */
#define GPIO_FTM0_CH5OUT PIN_FTM0_CH5_3 /* PTD5 PWM10 P4-43 */
#define GPIO_FTM0_CH6OUT PIN_FTM0_CH6_2 /* PTD6 PWM11 P4-40 */
#define GPIO_FTM0_CH7OUT PIN_FTM0_CH7_2 /* PTD7 PWM12 P4-37 */
#define GPIO_FTM0_CH3OUT PIN_FTM0_CH3_1 /* PTA6 PWM13 P4-7 */
#define GPIO_FTM0_CH2OUT PIN_FTM0_CH2_2 /* PTC3 PWM14 P4-10 */
//todo:This is a Guess on timer utilisation
#define GPIO_FTM3_CH0IN PIN_FTM3_CH0_2 /* PTE5 PWM1 P4-34 */
#define GPIO_FTM3_CH1IN PIN_FTM3_CH1_2 /* PTE6 PWM2 P4-31 */
#define GPIO_FTM3_CH2IN PIN_FTM3_CH2_2 /* PTE7 PWM3 P4-28 */
#define GPIO_FTM3_CH3IN PIN_FTM3_CH3_2 /* PTE8 PWM4 P4-25 */
#define GPIO_FTM3_CH4IN PIN_FTM3_CH4_2 /* PTE9 PWM5 P4-22 */
#define GPIO_FTM3_CH5IN PIN_FTM3_CH5_2 /* PTE10 PWM6 P4-29 */
#define GPIO_FTM3_CH6IN PIN_FTM3_CH6_2 /* PTE11 PWM7 P4-26 */
#define GPIO_FTM3_CH7IN PIN_FTM3_CH7_2 /* PTE12 PWM8 P4-13 */
#define GPIO_FTM0_CH4IN PIN_FTM0_CH4_3 /* PTD4 PWM0 P4-46 */
#define GPIO_FTM0_CH5IN PIN_FTM0_CH5_3 /* PTD5 PWM10 P4-43 */
#define GPIO_FTM0_CH6IN PIN_FTM0_CH6_2 /* PTD6 PWM11 P4-40 */
#define GPIO_FTM0_CH7IN PIN_FTM0_CH7_2 /* PTD7 PWM12 P4-37 */
#define GPIO_FTM0_CH3IN PIN_FTM0_CH3_1 /* PTA6 PWM13 P4-7 */
#define GPIO_FTM0_CH2IN PIN_FTM0_CH2_2 /* PTC3 PWM14 P4-10 */
/* SPI
*
*/
/* SPI0 SD Card */
#define PIN_SPI0_PCS0 PIN_SPI0_PCS0_2 /* PTC4 SPI_CS SD1-2 */
#define PIN_SPI0_SCK PIN_SPI0_SCK_2 /* PTC5 SPI_CLK SD1-5 */
#define PIN_SPI0_OUT PIN_SPI0_SOUT_2 /* PTC6 SPI_OUT SD1-3 */
#define PIN_SPI0_SIN PIN_SPI0_SIN_2 /* PTC7 SPI_IN SD1-5 */
/* SPI1 FXOS8700CQ Accelerometer */
#define PIN_SPI1_PCS0 PIN_SPI1_PCS0_1 /* PTB10 A_CS */
#define PIN_SPI1_SCK PIN_SPI1_SCK_1 /* PTB11 A_SCLK */
#define PIN_SPI1_OUT PIN_SPI1_SOUT_1 /* PTB16 A_MOSI */
#define PIN_SPI1_SIN PIN_SPI1_SIN_1 /* PTB17 A_MISO */
/* SPI2 FXAS21002CQ Gyroscope */
#define PIN_SPI2_PCS0 PIN_SPI2_PCS0_1 /* PTB20 GM_CS */
#define PIN_SPI2_SCK PIN_SPI2_SCK_1 /* PTB21 GM_SCLK */
#define PIN_SPI2_OUT PIN_SPI2_SOUT_1 /* PTB22 GM_MOSI */
#define PIN_SPI2_SIN PIN_SPI2_SIN_1 /* PTB23 GM_MISO */
/* UART
*
* NuttX Will use UART4 as the Console
*/
#define PIN_UART0_RX PIN_UART0_RX_4 /* PTD6 P4-40 PWM11 */
#define PIN_UART0_TX PIN_UART0_TX_4 /* PTD7 P4-37 PWM12 */
#define PIN_UART1_RX PIN_UART1_RX_2 /* PTE1 UART P14-3 */
#define PIN_UART1_TX PIN_UART1_TX_2 /* PTE0 UART P14-2 */
/* No Alternative pins for UART2
* PD2 BL P1-5
* PD3 BL P1-4
*/
#define PIN_UART3_RX PIN_UART3_RX_2 /* PTC16 GPS P3-3 */
#define PIN_UART3_TX PIN_UART3_TX_2 /* PTC17 GPS P3-2 */
#define PIN_UART4_RX PIN_UART4_RX_1 /* PTC14 UART P10-3 */
#define PIN_UART4_TX PIN_UART4_TX_1 /* PTC15 UART P10-2 */
/* LPUART
*
* P16 Pin Name K66 Name
* -------- ------------ ------ ---------
* 2 UART_TX PTD9 LPUART0_TX
* 3 UART_RX PTD8 LPUART0_RX
* -------- ----- ------ ---------
*/
#define PIN_LPUART0_RX PIN_LPUART0_RX_3
#define PIN_LPUART0_TX PIN_LPUART0_TX_3
/* UART5 is not connected on V1
*/
/************************************************************************************
* Public Data
************************************************************************************/
#ifndef __ASSEMBLY__
#undef EXTERN
#if defined(__cplusplus)
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
/************************************************************************************
* Public Function Prototypes
************************************************************************************/
/************************************************************************************
* Name: kinetis_boardinitialize
*
* Description:
* All kinetis architectures must provide the following entry point. This entry point
* is called early in the intitialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
void kinetis_boardinitialize(void);
#undef EXTERN
#if defined(__cplusplus)
}
#endif
#endif /* __ASSEMBLY__ */
#endif /* __CONFIG_NXPHLITE_V23_INCLUDE_BOARD_H */
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