tropic: enable dshot

PX4 · Jul 1, 2024 · 81366eb · 81366eb
1 parent d6935ec
commit 81366eb
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Showing 4 changed files with 35 additions and 13 deletions.
diff --git a/boards/nxp/tropic/default.px4board b/boards/nxp/tropic/default.px4board
@@ -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

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

diff --git a/boards/nxp/tropic/src/init.c b/boards/nxp/tropic/src/init.c
@@ -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>
 
@@ -91,6 +92,11 @@
  * Pre-Processor Definitions
  ****************************************************************************/
 
+/* 120Mhz clock for FlexIO using PLL3 */
+#define CONFIG_FLEXIO1_CLK 3
+#define CONFIG_FLEXIO1_PRED_DIVIDER 4
+#define CONFIG_FLEXIO1_PODF_DIVIDER 1
+
 /* Configuration ************************************************************/
 
 /*
@@ -318,6 +324,20 @@ int imxrt_phy_boardinitialize(int intf)
 	return OK;
 }
 
+void imxrt_flexio_clocking(void) {
+  uint32_t reg;
+  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 +365,7 @@ int imxrt_phy_boardinitialize(int intf)
  ****************************************************************************/
 __EXPORT int board_app_initialize(uintptr_t arg)
 {
+	imxrt_flexio_clocking();
 
 	/* Power on Interfaces */
 

diff --git a/boards/nxp/tropic/src/timer_config.cpp b/boards/nxp/tropic/src/timer_config.cpp
@@ -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] = {
 };