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Posted to commits@nuttx.apache.org by xi...@apache.org on 2021/06/26 14:59:04 UTC
[incubator-nuttx] 02/03: boards/arm/imxrt/teensy-4.x: added board
level support for FlexPWM driver
This is an automated email from the ASF dual-hosted git repository.
xiaoxiang pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx.git
commit 6e2db9bed139537a5bcb6c2da36342631eb29725
Author: Michal Lenc <mi...@seznam.cz>
AuthorDate: Sat Jun 26 11:55:09 2021 +0200
boards/arm/imxrt/teensy-4.x: added board level support for FlexPWM driver
Signed-off-by: Michal Lenc <mi...@seznam.cz>
---
.../arm/imxrt/teensy-4.x/configs/pwm-4.1/defconfig | 57 ++++++++
boards/arm/imxrt/teensy-4.x/include/board.h | 5 +
boards/arm/imxrt/teensy-4.x/src/Makefile | 4 +
boards/arm/imxrt/teensy-4.x/src/imxrt_bringup.c | 9 ++
boards/arm/imxrt/teensy-4.x/src/imxrt_flexpwm.c | 151 +++++++++++++++++++++
boards/arm/imxrt/teensy-4.x/src/teensy-4.h | 12 ++
6 files changed, 238 insertions(+)
diff --git a/boards/arm/imxrt/teensy-4.x/configs/pwm-4.1/defconfig b/boards/arm/imxrt/teensy-4.x/configs/pwm-4.1/defconfig
new file mode 100644
index 0000000..565e1c0
--- /dev/null
+++ b/boards/arm/imxrt/teensy-4.x/configs/pwm-4.1/defconfig
@@ -0,0 +1,57 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD="teensy-4.x"
+CONFIG_ARCH_BOARD_TEENSY_4X=y
+CONFIG_ARCH_CHIP="imxrt"
+CONFIG_ARCH_CHIP_IMXRT=y
+CONFIG_ARCH_CHIP_MIMXRT1062DVL6A=y
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DCACHE_WRITETHROUGH=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARD_LOOPSPERMSEC=104926
+CONFIG_BUILTIN=y
+CONFIG_EXAMPLES_PWM=y
+CONFIG_EXAMPLES_PWM_DEVPATH="/dev/pwm1"
+CONFIG_EXAMPLES_PWM_DURATION=10
+CONFIG_EXAMPLES_PWM_DUTYPCT1=30
+CONFIG_EXAMPLES_PWM_DUTYPCT2=80
+CONFIG_EXAMPLES_PWM_FREQUENCY=4000
+CONFIG_FS_PROCFS=y
+CONFIG_IDLETHREAD_STACKSIZE=2048
+CONFIG_IMXRT_FLEXPWM2=y
+CONFIG_IMXRT_FLEXPWM2_MOD1=y
+CONFIG_IMXRT_FLEXPWM2_MOD2=y
+CONFIG_IMXRT_LPUART1=y
+CONFIG_INTELHEX_BINARY=y
+CONFIG_IOB_NBUFFERS=24
+CONFIG_IOB_NCHAINS=24
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LPUART1_SERIAL_CONSOLE=y
+CONFIG_MAX_TASKS=16
+CONFIG_MM_IOB=y
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_LINELEN=64
+CONFIG_NSH_READLINE=y
+CONFIG_PWM=y
+CONFIG_PWM_MULTICHAN=y
+CONFIG_PWM_NCHANNELS=2
+CONFIG_RAM_SIZE=1048576
+CONFIG_RAM_START=0x20200000
+CONFIG_SCHED_HPWORK=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_START_DAY=14
+CONFIG_START_MONTH=3
+CONFIG_SYSTEM_NSH=y
+CONFIG_TEENSY_41=y
+CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_WQUEUE_NOTIFIER=y
diff --git a/boards/arm/imxrt/teensy-4.x/include/board.h b/boards/arm/imxrt/teensy-4.x/include/board.h
index ec9f415..0814c2d 100644
--- a/boards/arm/imxrt/teensy-4.x/include/board.h
+++ b/boards/arm/imxrt/teensy-4.x/include/board.h
@@ -276,6 +276,11 @@
#define GPIO_FLEXCAN3_TX (GPIO_FLEXCAN3_TX_3|IOMUX_CAN_DEFAULT) /* GPIO_EMC_36 */
#define GPIO_FLEXCAN3_RX (GPIO_FLEXCAN3_RX_3|IOMUX_CAN_DEFAULT) /* GPIO_EMC_37 */
+/* FlexPWM */
+
+#define GPIO_FLEXPWM2_MOD1_A (GPIO_FLEXPWM2_PWMA00_1|IOMUX_PWM_DEFAULT) /* GPIO_EMC_06 */
+#define GPIO_FLEXPWM2_MOD2_A (GPIO_FLEXPWM2_PWMA01_1|IOMUX_PWM_DEFAULT) /* GPIO_EMC_08 */
+
/****************************************************************************
* Public Types
****************************************************************************/
diff --git a/boards/arm/imxrt/teensy-4.x/src/Makefile b/boards/arm/imxrt/teensy-4.x/src/Makefile
index d15a030..631a070 100644
--- a/boards/arm/imxrt/teensy-4.x/src/Makefile
+++ b/boards/arm/imxrt/teensy-4.x/src/Makefile
@@ -46,6 +46,10 @@ ifeq ($(CONFIG_IMXRT_FLEXCAN),y)
CSRCS += imxrt_flexcan.c
endif
+ifeq ($(CONFIG_IMXRT_FLEXPWM),y)
+CSRCS += imxrt_flexpwm.c
+endif
+
ifeq ($(CONFIG_IMXRT_ENET),y)
CSRCS += imxrt_ethernet.c
endif
diff --git a/boards/arm/imxrt/teensy-4.x/src/imxrt_bringup.c b/boards/arm/imxrt/teensy-4.x/src/imxrt_bringup.c
index b91b7ef..4674436 100644
--- a/boards/arm/imxrt/teensy-4.x/src/imxrt_bringup.c
+++ b/boards/arm/imxrt/teensy-4.x/src/imxrt_bringup.c
@@ -163,6 +163,15 @@ int imxrt_bringup(void)
}
#endif
+#ifdef CONFIG_IMXRT_FLEXPWM
+ ret = imxrt_pwm_setup();
+ if (ret < 0)
+ {
+ syslog(LOG_ERR, "ERROR: imxrt_pwm_setup() failed: %d\n", ret);
+ return ret;
+ }
+#endif
+
#ifdef CONFIG_VIDEO_FB
/* Initialize and register the framebuffer driver */
diff --git a/boards/arm/imxrt/teensy-4.x/src/imxrt_flexpwm.c b/boards/arm/imxrt/teensy-4.x/src/imxrt_flexpwm.c
new file mode 100644
index 0000000..fe17cb8
--- /dev/null
+++ b/boards/arm/imxrt/teensy-4.x/src/imxrt_flexpwm.c
@@ -0,0 +1,151 @@
+/****************************************************************************
+ * boards/arm/imxrt/teensy-4.x/src/imxrt_flexpwm.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/board.h>
+#include <nuttx/timers/pwm.h>
+
+#include <arch/board/board.h>
+
+#include "imxrt_flexpwm.h"
+#include "teensy-4.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+#ifdef CONFIG_PWM
+
+extern struct pwm_lowerhalf_s *imxrt_pwminitialize(int pwm);
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: imxrt_pwm_setup
+ *
+ * Description:
+ * Initialize PWM and register the PWM device.
+ *
+ ****************************************************************************/
+
+int imxrt_pwm_setup(void)
+{
+ struct pwm_lowerhalf_s *pwm;
+ int ret;
+
+#ifdef CONFIG_IMXRT_FLEXPWM1
+ /* Call imxrt_pwminitialize() to get an instance of the PWM interface */
+
+ pwm = imxrt_pwminitialize(1);
+ if (!pwm)
+ {
+ aerr("ERROR: Failed to get the IMXRT PWM lower half\n");
+ return -ENODEV;
+ }
+
+ /* Register the PWM driver at "/dev/pwm0" */
+
+ ret = pwm_register("/dev/pwm0", pwm);
+ if (ret < 0)
+ {
+ aerr("ERROR: pwm_register failed: %d\n", ret);
+ return ret;
+ }
+
+#endif
+#ifdef CONFIG_IMXRT_FLEXPWM2
+ /* Call imxrt_pwminitialize() to get an instance of the PWM interface */
+
+ pwm = imxrt_pwminitialize(2);
+ if (!pwm)
+ {
+ aerr("ERROR: Failed to get the IMXRT PWM lower half\n");
+ return -ENODEV;
+ }
+
+ /* Register the PWM driver at "/dev/pwm1" */
+
+ ret = pwm_register("/dev/pwm1", pwm);
+ if (ret < 0)
+ {
+ aerr("ERROR: pwm_register failed: %d\n", ret);
+ return ret;
+ }
+
+#endif
+#ifdef CONFIG_IMXRT_FLEXPWM3
+ /* Call imxrt_pwminitialize() to get an instance of the PWM interface */
+
+ pwm = imxrt_pwminitialize(3);
+ if (!pwm)
+ {
+ aerr("ERROR: Failed to get the IMXRT PWM lower half\n");
+ return -ENODEV;
+ }
+
+ /* Register the PWM driver at "/dev/pwm2" */
+
+ ret = pwm_register("/dev/pwm2", pwm);
+ if (ret < 0)
+ {
+ aerr("ERROR: pwm_register failed: %d\n", ret);
+ return ret;
+ }
+
+#endif
+#ifdef CONFIG_IMXRT_FLEXPWM4
+ /* Call imxrt_pwminitialize() to get an instance of the PWM interface */
+
+ pwm = imxrt_pwminitialize(4);
+ if (!pwm)
+ {
+ aerr("ERROR: Failed to get the IMXRT PWM lower half\n");
+ return -ENODEV;
+ }
+
+ /* Register the PWM driver at "/dev/pwm3" */
+
+ ret = pwm_register("/dev/pwm3", pwm);
+ if (ret < 0)
+ {
+ aerr("ERROR: pwm_register failed: %d\n", ret);
+ return ret;
+ }
+
+#endif
+
+ UNUSED(ret);
+ return OK;
+}
+
+#endif /* CONFIG_PWM */
diff --git a/boards/arm/imxrt/teensy-4.x/src/teensy-4.h b/boards/arm/imxrt/teensy-4.x/src/teensy-4.h
index 1f0a8bc..849dd77 100644
--- a/boards/arm/imxrt/teensy-4.x/src/teensy-4.h
+++ b/boards/arm/imxrt/teensy-4.x/src/teensy-4.h
@@ -163,6 +163,18 @@ int imxrt_can_setup(void);
#endif
/****************************************************************************
+ * Name: imxrt_pwm_setup
+ *
+ * Description:
+ * Initialize PWM and register the PWM device.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_IMXRT_FLEXPWM
+int imxrt_pwm_setup(void);
+#endif
+
+/****************************************************************************
* Name: imxrt_adc_initialize
*
* Description: