forked from Archive/PX4-Autopilot
nxphlite-v3:V3.5 HW changes
This commit is contained in:
David Sidrane
parent
9ce3fc6700
commit
812128d565
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@ -41,9 +41,6 @@
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/************************************************************************************
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* Included Files
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************************************************************************************/
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#undef HW_V3 /*- As shipped from NXP */
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#define HW_V3_MOD_RC0 /* Modified board */
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#undef HW_V4 /* Next Rev with modes */
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#include <nuttx/config.h>
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@ -61,13 +58,13 @@
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* 256 KiB of SRAM.
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*/
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/* Clocking *************************************************************************/
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/* The NXPHlite-v3 uses a 16MHz external Oscillator. The Kinetis MCU startup from an
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* internal digitally-controlled oscillator (DCO). Nuttx will enable the main external
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* oscillator (EXTAL0/XTAL0). The external oscillator/resonator can range from
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/* The NXPHlite-v3 uses a 16MHz external powered Oscillator. The Kinetis MCU startup
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* from an internal digitally-controlled oscillator (DCO). Nuttx will enable the main
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* external oscillator EXTAL0. The external oscillator can range from
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* 32.768 KHz up to 50 MHz. The default external source for the MCG oscillator inputs
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* EXTAL.
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*
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* Y1 a High-frequency, low-power Xtal
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* Y1 a High-frequency, Oscillator
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*/
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#define BOARD_EXTAL_LP 1
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#define BOARD_EXTAL_FREQ 16000000 /* 16MHz Oscillator Y1 */
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@ -78,7 +75,7 @@
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/* FLL Configuration.
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* BOARD_EXTAL_FREQ / BOARD_FRDIV has to be in the range 31.25 kHz to 39.0625
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* 16 Mhz/ MCG_C1_FRDIV_DIV512 = 31.25 kHz * 640 the default for MCG_C4
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* 16 Mhz / MCG_C1_FRDIV_DIV512 = 31.25 kHz * 640 the default for MCG_C4
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* FLL is 20Mhz
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*/
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#define BOARD_FRDIV MCG_C1_FRDIV_DIV512
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@ -175,11 +172,11 @@
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/* SDHC pull-up resistors **********************************************************/
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/* There are no external pull-ups on the NXPhlite
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* So enable them.
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/* There are external pull-ups on the NXPhlite
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* So enable we do not them.
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*/
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#define BOARD_SDHC_ENABLE_PULLUPS 1
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#undef BOARD_SDHC_ENABLE_PULLUPS
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/* Identification mode: Optimal 400KHz, Actual 168Mhz / (32 * 14) = 375 KHz */
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@ -318,38 +315,27 @@
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/* PWM Channels */
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#define GPIO_FTM0_CH0OUT PIN_FTM0_CH0_2 /* PTC1 FMU_CH1 P4-34 */
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#define GPIO_FTM0_CH3OUT PIN_FTM0_CH3_1 /* PTA6 FMU_CH2 P4-41 */
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#define GPIO_FTM0_CH4OUT PIN_FTM0_CH4_3 /* PTD4 FMU_CH3 P4-35 */
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#define GPIO_FTM0_CH5OUT PIN_FTM0_CH5_3 /* PTD5 FMU_CH4 P4-32 */
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#define GPIO_FTM0_CH6OUT PIN_FTM0_CH6_2 /* PTD6 FMU_CH5 P4-29 */
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#define GPIO_FTM0_CH7OUT PIN_FTM0_CH7_2 /* PTD7 FMU_CH6 P4-26 */
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#define GPIO_FTM0_CH0OUT PIN_FTM0_CH0_2 /* PTC1 FMU_CH1 P4-19 */
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#define GPIO_FTM0_CH3OUT PIN_FTM0_CH3_1 /* PTA6 FMU_CH2 P4-16 */
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#define GPIO_FTM0_CH4OUT PIN_FTM0_CH4_3 /* PTD4 FMU_CH3 P4-13 */
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#define GPIO_FTM0_CH5OUT PIN_FTM0_CH5_3 /* PTD5 FMU_CH4 P4-10 */
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#define GPIO_FTM3_CH0OUT PIN_FTM3_CH0_1 /* PTD0 IO_CH1 P4-23 */
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#define GPIO_FTM3_CH1OUT PIN_FTM3_CH1_2 /* PTE6 IO_CH2 P4-20 */
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#define GPIO_FTM3_CH2OUT PIN_FTM3_CH2_2 /* PTE7 IO_CH3 P4-17 */
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#define GPIO_FTM3_CH3OUT PIN_FTM3_CH3_2 /* PTE8 IO_CH4 P4-14 */
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#define GPIO_FTM3_CH4OUT PIN_FTM3_CH4_2 /* PTE9 IO_CH5 P4-11 */
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#define GPIO_FTM3_CH5OUT PIN_FTM3_CH5_2 /* PTE10 IO_CH6 P4-8 */
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#define GPIO_FTM3_CH6OUT PIN_FTM3_CH6_2 /* PTE11 IO_CH7 P4-5 */
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#define GPIO_FTM3_CH7OUT PIN_FTM3_CH7_2 /* PTE12 IO_CH8 P4-2 */
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#define GPIO_FTM3_CH6OUT PIN_FTM3_CH6_2 /* PTE11 FMU_CH5 P4-7 */
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#define GPIO_FTM3_CH7OUT PIN_FTM3_CH7_2 /* PTE12 FMU_CH5 P4-4 */
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#define GPIO_FTM0_CH0IN PIN_FTM0_CH0_2 /* PTC1 FMU_CH1 P4-34 */
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#define GPIO_FTM0_CH3IN PIN_FTM0_CH3_1 /* PTA6 FMU_CH2 P4-41 */
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#define GPIO_FTM0_CH4IN PIN_FTM0_CH4_3 /* PTD4 FMU_CH3 P4-35 */
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#define GPIO_FTM0_CH5IN PIN_FTM0_CH5_3 /* PTD5 FMU_CH4 P4-32 */
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#define GPIO_FTM0_CH6IN PIN_FTM0_CH6_2 /* PTD6 FMU_CH5 P4-29 */
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#define GPIO_FTM0_CH7IN PIN_FTM0_CH7_2 /* PTD7 FMU_CH6 P4-26 */
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#define GPIO_FTM3_CH0OUT PIN_FTM3_CH0_1 /* PTD0 U_TRI P10-2 */
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#define GPIO_FTM2_CH0OUT PIN_FTM2_CH0_1 /* PTA10 U_ECH P20-3 */
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#define GPIO_FTM3_CH0IN PIN_FTM3_CH0_1 /* PTD0 IO_CH1 P4-23 */
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#define GPIO_FTM3_CH1IN PIN_FTM3_CH1_2 /* PTE6 IO_CH2 P4-20 */
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#define GPIO_FTM3_CH2IN PIN_FTM3_CH2_2 /* PTE7 IO_CH3 P4-17 */
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#define GPIO_FTM3_CH3IN PIN_FTM3_CH3_2 /* PTE8 IO_CH4 P4-14 */
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#define GPIO_FTM3_CH4IN PIN_FTM3_CH4_2 /* PTE9 IO_CH5 P4-11 */
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#define GPIO_FTM3_CH5IN PIN_FTM3_CH5_2 /* PTE10 IO_CH6 P4-8 */
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#define GPIO_FTM3_CH6IN PIN_FTM3_CH6_2 /* PTE11 IO_CH7 P4-5 */
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#define GPIO_FTM3_CH7IN PIN_FTM3_CH7_2 /* PTE12 IO_CH8 P4-2 */
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#define GPIO_FTM0_CH0IN PIN_FTM0_CH0_2 /* PTC1 FMU_CH1 P4-19 */
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#define GPIO_FTM0_CH3IN PIN_FTM0_CH3_1 /* PTA6 FMU_CH2 P4-16 */
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#define GPIO_FTM0_CH4IN PIN_FTM0_CH4_3 /* PTD4 FMU_CH3 P4-13 */
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#define GPIO_FTM0_CH5IN PIN_FTM0_CH5_3 /* PTD5 FMU_CH4 P4-10 */
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#define GPIO_FTM3_CH6IN PIN_FTM3_CH6_2 /* PTE11 FMU_CH5 P4-7 */
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#define GPIO_FTM3_CH7IN PIN_FTM3_CH7_2 /* PTE12 FMU_CH5 P4-4 */
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#define GPIO_FTM3_CH0IN PIN_FTM3_CH0_1 /* PTD0 U_TRI P10-2 */
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#define GPIO_FTM2_CH0IN PIN_FTM2_CH0_1 /* PTA10 U_ECH P20-3 */
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/* SPI
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*
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@ -444,19 +430,13 @@
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* 2 UART4_TX PTC15 UART4_TX
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* 3 UART4_RX PTC14 UART4_RX
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* 4 UART4_CTS PTC13 UART4_CTS
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* 5 UART4_RTS PTC12 UART4_RTS - V3 HW
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* 5 UART4_RTS PTE27 UART4_RTS - V3.RC01 and V4
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* 5 UART4_RTS PTE27 UART4_RTS
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* -------- ------------ ------- ---------
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*/
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#define PIN_UART4_RX PIN_UART4_RX_1
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#define PIN_UART4_TX PIN_UART4_TX_1
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#if defined (HW_V3)
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# define PIN_UART4_RTS PIN_UART4_RTS_1
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#endif
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#if defined(HW_V3_MOD_RC0) || defined(HW_V4)
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# define PIN_UART4_RTS PIN_UART4_RTS_2
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#endif
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#define PIN_UART4_RTS PIN_UART4_RTS_2
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#define PIN_UART4_CTS PIN_UART4_CTS_1
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/*
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@ -42,10 +42,6 @@
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/****************************************************************************************************
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* Included Files
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****************************************************************************************************/
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#undef HW_V3 /*- As shipped from NXP */
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#define HW_V3_MOD_RC0 /* Modified board */
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#undef HW_V4 /* Next Rev with modes */
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#include <px4_config.h>
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#include <nuttx/compiler.h>
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#include <stdint.h>
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@ -77,7 +73,7 @@ __BEGIN_DECLS
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#define GPIO_LED_D10 (GPIO_HIGHDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTD | PIN13)
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#define GPIO_NFC_IO (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE | PIN_PORTA | PIN26)
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#define GPIO_SENSOR_P_EN (GPIO_HIGHDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTB | PIN8)
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#define GPIO_SENSOR_P_EN (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE | PIN_PORTB | PIN8)
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/* UART tty Mapping
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@ -100,7 +96,7 @@ __BEGIN_DECLS
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*/
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#define HRT_PPM_CHANNEL 1 /* Use TPM1 capture/compare channel 1 */
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#define GPIO_PPM_IN PIN_TPM1_CH1_1 /* PTC3 USART1 RX and PTA9 and PIN_TPM1_CH1 AKA RC_INPUT */
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#define GPIO_PPM_IN PIN_TPM1_CH1_1 /* PTC3 USART1 RX and PTA9 and PIN_TPM1_CH1 AKA FrSky_IN_RC_IN */
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/*
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@ -118,7 +114,6 @@ __BEGIN_DECLS
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/* Power is a p-Channel FET */
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#define GPIO_SPEKTRUM_P_EN (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE | PIN_PORTA | PIN7)
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#define SPEKTRUM_POWER(_on_true) px4_arch_gpiowrite(GPIO_SPEKTRUM_P_EN, (!_on_true))
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/* For binding the Spektrum 3-pin interfaces is used with it TX (output)
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* as an input Therefore we drive are UARTx_RX (normaly an input) as an
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@ -142,13 +137,15 @@ __BEGIN_DECLS
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/* Ethernet Control
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*
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* Uninitialized to Reset Disabled and Inhibited
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* All pins driven low to not back feed when power is off
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*/
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#define GPIO_E_RST (GPIO_LOWDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTA | PIN28)
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#define GPIO_E_EN (GPIO_LOWDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTA | PIN29)
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#define GPIO_E_INH (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTA | PIN8)
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#define GPIO_ENET_CONFIG0 (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTA | PIN24)
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#define nGPIO_ETHERNET_P_EN (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTB | PIN3)
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#define GPIO_ENET_RST (GPIO_LOWDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTA | PIN28)
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#define GPIO_ENET_EN (GPIO_LOWDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTA | PIN29)
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#define GPIO_ENET_INH (GPIO_LOWDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTA | PIN8)
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#define GPIO_ENET_CONFIG0 (GPIO_LOWDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTA | PIN24)
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#define GPIO_ENET_CONFIG1 (GPIO_LOWDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTB | PIN2)
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/* CAN Control
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* Control pin S allows two operating modes to be selected:
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@ -159,23 +156,10 @@ __BEGIN_DECLS
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#define GPIO_CAN1_STB (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTC | PIN18)
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/* P13 Ultrasonic Sensors
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* GPIO to driver the the Trigger and sample the response on Echo
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* It would be gbetter to have Echo on a timer capture pin.
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*/
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#define GPIO_ECH (GPIO_PULLUP | PIN_PORTB | PIN2)
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#define GPIO_TRI (GPIO_HIGHDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTB | PIN3)
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/* Safety Switch
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* TBD
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*/
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#if defined(HW_V3)
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# define GPIO_LED_SAFETY (GPIO_HIGHDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTE | PIN27)
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#endif
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#if defined(HW_V3_MOD_RC0) || defined(HW_V4)
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# define GPIO_LED_SAFETY (GPIO_HIGHDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTC | PIN0)
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#endif
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#define GPIO_LED_SAFETY (GPIO_HIGHDRIVE | GPIO_OUTPUT_ZER0 | PIN_PORTC | PIN0)
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#define GPIO_BTN_SAFETY (GPIO_PULLUP | PIN_PORTE | PIN28)
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/* NXPHlite-v3 GPIOs ****************************************************************/
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@ -197,10 +181,13 @@ __BEGIN_DECLS
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* CMD SDHC0_CMD PTE3
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* CLK SDHC0_DCLK PTE2
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* SWITCH D_CARD_DETECT PTD10
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* CAED_P_EN PTD6
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* ------------ ------------- --------
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*
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* There is no Write Protect pin available to the K66
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*/
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#define SD_CAED_P_EN (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTD | PIN6)
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#define GPIO_SD_CARDDETECT (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTD | PIN10)
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/* SPI
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@ -237,12 +224,12 @@ __BEGIN_DECLS
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/* Sensor interrupts */
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#undef GPIO_EXTI_GYRO_INT1 /* NC */
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#undef GPIO_EXTI_GYRO_INT2 /* NC */
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#undef GPIO_EXTI_ACCEL_MAG_INT1 /* NC */
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#undef GPIO_EXTI_ACCEL_MAG_INT2 /* NC */
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#define GPIO_EXTI_GYRO_INT1 (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTE | PIN7)
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#define GPIO_EXTI_GYRO_INT2 (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTE | PIN6)
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#define GPIO_EXTI_ACCEL_MAG_INT1 (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTE | PIN9)
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#define GPIO_EXTI_ACCEL_MAG_INT2 (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTE | PIN10)
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#define GPIO_EXTI_BARO_INT1 (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTD | PIN11)
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#undef GPIO_EXTI_BARO_INT2 /* NC */
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#define GPIO_EXTI_BARO_INT2 (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTD | PIN7)
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/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
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@ -271,8 +258,6 @@ __BEGIN_DECLS
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/* I2C busses */
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#define GPIO_P_INT (GPIO_PULLUP | PIN_PORTD | PIN11)
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#define PX4_I2C_BUS_EXPANSION PX4_BUS_NUMBER_TO_PX4(0)
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#define PX4_I2C_BUS_ONBOARD PX4_BUS_NUMBER_TO_PX4(1)
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@ -293,18 +278,19 @@ __BEGIN_DECLS
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* Bits 31:0 are ADC1 channels 31:0
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*/
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#define ADC1(c) (((c) & 0x1f)) /* Define ADC number /Channel number */
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#define ADC1_CH(c) (((c) & 0x1f)) /* Define ADC number Channel number */
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#define ADC1_GPIO(n) PIN_ADC1_SE##n
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/* ADC defines to be used in sensors.cpp to read from a particular channel */
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#define ADC_USB_VBUS_VALID ADC1(0) /* USB_VBUS_VALID 29 - ADC1_DP0 (bridged on V3 RC00 HW from pin 36 ADC0_SE16 or ADC0_SE21) */
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#define ADC_BATTERY_VOLTAGE_CHANNEL ADC1(10) /* BAT_VSENS 85 PTB4 ADC1_SE10 */
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#define ADC_BATTERY_CURRENT_CHANNEL ADC1(11) /* BAT_ISENS 86 PTB5 ADC1_SE11 */
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#define ADC_5V_RAIL_SENSE ADC1(12) /* 5V_VSENS 87 PTB6 ADC1_SE12 */
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#define ADC_RSSI_IN ADC1(13) /* RSSI_IN 88 PTB7 ADC1_SE13 */
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#define ADC_AD1 ADC1(16) /* AD1 35 - ADC1_SE16 */
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#define ADC_AD2 ADC1(18) /* AD2 37 - ADC1_SE18 */
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#define ADC_AD3 ADC1(23) /* AD3 39 - ADC1_SE23 */
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#define ADC_USB_VBUS_VALID ADC1_CH(0) /* USB_VBUS_VALID 29 - ADC1_DP0 */
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#define ADC_BATTERY_VOLTAGE_CHANNEL ADC1_CH(10) /* BAT_VSENS 85 PTB4 ADC1_SE10 */
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#define ADC_BATTERY_CURRENT_CHANNEL ADC1_CH(11) /* BAT_ISENS 86 PTB5 ADC1_SE11 */
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#define ADC_5V_RAIL_SENSE ADC1_CH(12) /* 5V_VSENS 87 PTB6 ADC1_SE12 */
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#define ADC_RSSI_IN ADC1_CH(13) /* RSSI_IN 88 PTB7 ADC1_SE13 */
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#define ADC_AD1 ADC1_CH(16) /* AD1 35 - ADC1_SE16 */
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#define ADC_AD2 ADC1_CH(18) /* AD2 37 - ADC1_SE18 */
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#define ADC_AD3 ADC1_CH(23) /* AD3 39 - ADC1_SE23 */
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/* Mask use to initialize the ADC driver */
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@ -317,12 +303,15 @@ __BEGIN_DECLS
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(1 << ADC_AD2) | \
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(1 << ADC_AD3))
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/* GPIO that require Configuration */
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#define GPIO_BAT_VSENS PIN_ADC1_SE10
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#define GPIO_BAT_ISENS PIN_ADC1_SE11
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#define GPIO_5V_VSENS PIN_ADC1_SE12
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#define GPIO_RSSI_IN PIN_ADC1_SE13
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#define PX4_ADC_GPIO \
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/* PTB4 ADC1_SE10 */ ADC1_GPIO(10), \
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/* PTB5 ADC1_SE11 */ ADC1_GPIO(11), \
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/* PTB6 ADC1_SE12 */ ADC1_GPIO(12), \
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/* PTB7 ADC1_SE13 */ ADC1_GPIO(13)
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#define BOARD_BATTERY1_V_DIV (10.177939394f)
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@ -339,35 +328,32 @@ __BEGIN_DECLS
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#define PX4_MK_GPIO_INPUT(pin_ftmx) PX4_MK_GPIO(pin_ftmx, GPIO_PULLUP)
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#define PX4_MK_GPIO_OUTPUT(pin_ftmx) PX4_MK_GPIO(pin_ftmx, GPIO_HIGHDRIVE)
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#define GPIO_GPIO0_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM0_CH0OUT)
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#define GPIO_GPIO1_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM0_CH3OUT)
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#define GPIO_GPIO2_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM0_CH4OUT)
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#define GPIO_GPIO3_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM0_CH5OUT)
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#define GPIO_GPIO4_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM0_CH6OUT)
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#define GPIO_GPIO5_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM0_CH7OUT)
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#define GPIO_GPIO6_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM3_CH0OUT)
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#define GPIO_GPIO7_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM3_CH1OUT)
|
||||
#define GPIO_GPIO8_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM3_CH2OUT)
|
||||
#define GPIO_GPIO9_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM3_CH3OUT)
|
||||
#define GPIO_GPIO10_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM3_CH4OUT)
|
||||
#define GPIO_GPIO11_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM3_CH5OUT)
|
||||
#define GPIO_GPIO12_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM3_CH6OUT)
|
||||
#define GPIO_GPIO13_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM3_CH7OUT)
|
||||
#define GPIO_GPIO0_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM0_CH0OUT) /* FMU_CH1 */
|
||||
#define GPIO_GPIO1_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM0_CH3OUT) /* FMU_CH2 */
|
||||
#define GPIO_GPIO2_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM0_CH4OUT) /* FMU_CH3 */
|
||||
#define GPIO_GPIO3_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM0_CH5OUT) /* FMU_CH4 */
|
||||
#define GPIO_GPIO4_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM3_CH6OUT) /* FMU_CH5 */
|
||||
#define GPIO_GPIO5_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM3_CH7OUT) /* FMU_CH6 */
|
||||
|
||||
#define GPIO_GPIO0_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM0_CH0OUT)
|
||||
#define GPIO_GPIO1_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM0_CH3OUT)
|
||||
#define GPIO_GPIO2_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM0_CH4OUT)
|
||||
#define GPIO_GPIO3_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM0_CH5OUT)
|
||||
#define GPIO_GPIO4_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM0_CH6OUT)
|
||||
#define GPIO_GPIO5_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM0_CH7OUT)
|
||||
#define GPIO_GPIO6_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM3_CH0OUT)
|
||||
#define GPIO_GPIO7_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM3_CH1OUT)
|
||||
#define GPIO_GPIO8_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM3_CH2OUT)
|
||||
#define GPIO_GPIO9_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM3_CH3OUT)
|
||||
#define GPIO_GPIO10_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM3_CH4OUT)
|
||||
#define GPIO_GPIO11_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM3_CH5OUT)
|
||||
#define GPIO_GPIO12_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM3_CH6OUT)
|
||||
#define GPIO_GPIO13_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM3_CH7OUT)
|
||||
#define GPIO_GPIO6_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM3_CH0OUT) /* U_TRI */
|
||||
#define GPIO_GPIO7_INPUT PX4_MK_GPIO_INPUT(GPIO_FTM2_CH0OUT) /* U_ECHO */
|
||||
|
||||
#define GPIO_GPIO0_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM0_CH0OUT) /* FMU_CH1 */
|
||||
#define GPIO_GPIO1_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM0_CH3OUT) /* FMU_CH2 */
|
||||
#define GPIO_GPIO2_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM0_CH4OUT) /* FMU_CH3 */
|
||||
#define GPIO_GPIO3_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM0_CH5OUT) /* FMU_CH4 */
|
||||
#define GPIO_GPIO4_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM3_CH6OUT) /* FMU_CH5 */
|
||||
#define GPIO_GPIO5_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM3_CH7OUT) /* FMU_CH6 */
|
||||
|
||||
#define GPIO_GPIO6_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM3_CH0OUT) /* U_TRI */
|
||||
#define GPIO_GPIO7_OUTPUT PX4_MK_GPIO_OUTPUT(GPIO_FTM2_CH0OUT) /* U_ECHO */
|
||||
|
||||
/* P13 Ultrasonic Sensors
|
||||
* Timer Capture driver the the Trigger and sample the response on Echo
|
||||
*/
|
||||
|
||||
#define GPIO_TRI GPIO_GPIO6_OUTPUT
|
||||
#define GPIO_ECH GPIO_GPIO7_INPUT
|
||||
|
||||
/* Timer I/O PWM and capture
|
||||
*
|
||||
|
|
@ -379,8 +365,8 @@ __BEGIN_DECLS
|
|||
*/
|
||||
// todo:Design this!
|
||||
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 14
|
||||
#define DIRECT_INPUT_TIMER_CHANNELS 14
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 8
|
||||
#define DIRECT_INPUT_TIMER_CHANNELS 8
|
||||
|
||||
/* Power supply control and monitoring GPIOs */
|
||||
// None
|
||||
|
|
@ -398,9 +384,9 @@ __BEGIN_DECLS
|
|||
|
||||
/* USB
|
||||
*
|
||||
* VBUS detection is on 36 ADC0_SE21 USB_VBUS_VALID
|
||||
* VBUS detection is on 29 ADC_DPM0 and PTE8
|
||||
*/
|
||||
|
||||
#define GPIO_USB_VBUS_VALID /* PTE8 */ (GPIO_PULLUP | PIN_PORTE | PIN8)
|
||||
|
||||
/* PWM input driver. Use FMU PWM14 pin
|
||||
* todo:desing this
|
||||
|
|
@ -411,12 +397,27 @@ __BEGIN_DECLS
|
|||
|
||||
#define BOARD_NAME "NXPHLITE_V3"
|
||||
|
||||
|
||||
/* Define True logic Power Control in arch agnostic form */
|
||||
|
||||
#define VDD_ETH_EN(on_true) px4_arch_gpiowrite(nGPIO_ETHERNET_P_EN, !(on_true))
|
||||
// Do not have #define VDD_5V_PERIPH_EN(on_true) px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, !(on_true))
|
||||
// Do not have #define VDD_5V_HIPOWER_EN(on_true) px4_arch_gpiowrite(GPIO_nVDD_5V_HIPOWER_EN, !(on_true))
|
||||
#define VDD_3V3_SENSORS_EN(on_true) px4_arch_gpiowrite(GPIO_SENSOR_P_EN, !(on_true))
|
||||
#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_SPEKTRUM_P_EN, !(on_true))
|
||||
#define READ_VDD_3V3_SPEKTRUM_POWER_EN() px4_arch_gpioread(GPIO_SPEKTRUM_P_EN)
|
||||
// Do not have #define VDD_5V_RC_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_RC_EN, (on_true))
|
||||
// Do not have #define VDD_5V_WIFI_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_WIFI_EN, (on_true))
|
||||
#define VDD_3V3_SD_CARD_EN(on_true) px4_arch_gpiowrite(SD_CAED_P_EN, !(on_true))
|
||||
|
||||
|
||||
/*
|
||||
* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
|
||||
* this board support the ADC system_power interface, and therefore
|
||||
* provides the true logic GPIO BOARD_ADC_xxxx macros.
|
||||
*/
|
||||
#define BOARD_ADC_USB_CONNECTED ADC_USB_VBUS_VALID /* VBUS valid is read on an ADC pin */
|
||||
|
||||
#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_USB_VBUS_VALID))
|
||||
#define BOARD_ADC_BRICK_VALID (1)
|
||||
#define BOARD_ADC_SERVO_VALID (1)
|
||||
#define BOARD_ADC_PERIPH_5V_OC (0)
|
||||
|
|
@ -431,14 +432,8 @@ __BEGIN_DECLS
|
|||
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, \
|
||||
{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0}, \
|
||||
{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0}, \
|
||||
{GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, 0}, \
|
||||
{GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, 0}, \
|
||||
{GPIO_GPIO8_INPUT, GPIO_GPIO8_OUTPUT, 0}, \
|
||||
{GPIO_GPIO9_INPUT, GPIO_GPIO9_OUTPUT, 0}, \
|
||||
{GPIO_GPIO10_INPUT, GPIO_GPIO10_OUTPUT, 0}, \
|
||||
{GPIO_GPIO11_INPUT, GPIO_GPIO11_OUTPUT, 0}, \
|
||||
{GPIO_GPIO12_INPUT, GPIO_GPIO12_OUTPUT, 0}, \
|
||||
{GPIO_GPIO13_INPUT, GPIO_GPIO13_OUTPUT, 0}, \
|
||||
{0, GPIO_TRI, 0}, \
|
||||
{GPIO_ECH, 0, 0}, \
|
||||
}
|
||||
/*
|
||||
* GPIO numbers.
|
||||
|
|
@ -451,19 +446,51 @@ __BEGIN_DECLS
|
|||
#define GPIO_SERVO_4 (1<<3) /**< servo 4 output */
|
||||
#define GPIO_SERVO_5 (1<<4) /**< servo 5 output */
|
||||
#define GPIO_SERVO_6 (1<<5) /**< servo 6 output */
|
||||
#define GPIO_SERVO_7 (1<<6) /**< servo 7 output */
|
||||
#define GPIO_SERVO_8 (1<<7) /**< servo 8 output */
|
||||
#define GPIO_SERVO_9 (1<<8) /**< servo 9 output */
|
||||
#define GPIO_SERVO_10 (1<<9) /**< servo 9 output */
|
||||
#define GPIO_SERVO_11 (1<<10) /**< servo 10 output */
|
||||
#define GPIO_SERVO_12 (1<<11) /**< servo 11 output */
|
||||
#define GPIO_SERVO_13 (1<<12) /**< servo 12 output */
|
||||
#define GPIO_SERVO_14 (1<<13) /**< servo 13 output */
|
||||
#define GPIO_SERVO_7 (1<<6) /**< servo 7 output U_TRI */
|
||||
#define GPIO_SERVO_8 (1<<6) /**< servo 8 output U_ECH */
|
||||
|
||||
/* This board provides a DMA pool and APIs */
|
||||
|
||||
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
|
||||
|
||||
/* This board provides the board_on_reset interface */
|
||||
|
||||
#define BOARD_HAS_ON_RESET 1
|
||||
|
||||
#define PX4_GPIO_PWM_INIT_LIST { \
|
||||
GPIO_GPIO5_INPUT, \
|
||||
GPIO_GPIO4_INPUT, \
|
||||
GPIO_GPIO3_INPUT, \
|
||||
GPIO_GPIO2_INPUT, \
|
||||
GPIO_GPIO1_INPUT, \
|
||||
GPIO_GPIO0_INPUT, \
|
||||
GPIO_TRI, \
|
||||
}
|
||||
|
||||
#define PX4_GPIO_INIT_LIST { \
|
||||
GPIO_SENSOR_P_EN, \
|
||||
SD_CAED_P_EN, \
|
||||
nGPIO_ETHERNET_P_EN, \
|
||||
GPIO_SPEKTRUM_P_EN, \
|
||||
PX4_ADC_GPIO, \
|
||||
GPIO_GM_nRST, \
|
||||
GPIO_A_RST, \
|
||||
GPIO_USB_VBUS_VALID, \
|
||||
GPIO_ECH, \
|
||||
GPIO_ENET_RST, \
|
||||
GPIO_ENET_EN, \
|
||||
GPIO_ENET_INH, \
|
||||
GPIO_ENET_CONFIG0, \
|
||||
GPIO_ENET_CONFIG1, \
|
||||
GPIO_CAN0_STB, \
|
||||
GPIO_CAN1_STB, \
|
||||
GPIO_BTN_SAFETY, \
|
||||
GPIO_TONE_ALARM_IDLE, \
|
||||
GPIO_NFC_IO, \
|
||||
GPIO_LED_D9, \
|
||||
GPIO_LED_D10 \
|
||||
}
|
||||
|
||||
/* Automounter */
|
||||
|
||||
#define HAVE_MMCSD 1
|
||||
|
|
|
|||
|
|
@ -124,6 +124,29 @@ __END_DECLS
|
|||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
/************************************************************************************
|
||||
* Name: board_on_reset
|
||||
*
|
||||
* Description:
|
||||
* Optionally provided function called on entry to board_system_reset
|
||||
* It should perform any house keeping prior to the rest.
|
||||
*
|
||||
* status - 1 if resetting to boot loader
|
||||
* 0 if just resetting
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void board_on_reset(int status)
|
||||
{
|
||||
/* configure the GPIO pins to outputs and keep them low */
|
||||
|
||||
const uint32_t gpio[] = PX4_GPIO_PWM_INIT_LIST;
|
||||
board_gpio_init(gpio, arraySize(gpio));
|
||||
|
||||
if (status >= 0) {
|
||||
up_mdelay(6);
|
||||
}
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_read_VBUS_state
|
||||
|
|
@ -139,8 +162,7 @@ __END_DECLS
|
|||
|
||||
int board_read_VBUS_state(void)
|
||||
{
|
||||
// read * 36 ADC0_SE21 USB_VBUS_VALID
|
||||
return g_board_usb_connected ? 0 : 1;
|
||||
return BOARD_ADC_USB_CONNECTED ? 0 : 1;
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
|
|
@ -210,76 +232,16 @@ __EXPORT void board_peripheral_reset(int ms)
|
|||
__EXPORT void
|
||||
kinetis_boardinitialize(void)
|
||||
{
|
||||
board_on_reset(-1); /* Reset PWM first thing */
|
||||
|
||||
/* configure LEDs */
|
||||
board_autoled_initialize();
|
||||
|
||||
/* Reset Sensors */
|
||||
kinetis_pinconfig(GPIO_GM_nRST);
|
||||
kinetis_pinconfig(GPIO_A_RST);
|
||||
|
||||
/* configure ADC pins */
|
||||
|
||||
kinetis_pinconfig(GPIO_BAT_VSENS);
|
||||
kinetis_pinconfig(GPIO_BAT_ISENS);
|
||||
kinetis_pinconfig(GPIO_5V_VSENS);
|
||||
kinetis_pinconfig(GPIO_RSSI_IN);
|
||||
|
||||
/* configure power supply control/sense pins */
|
||||
|
||||
kinetis_pinconfig(GPIO_SPEKTRUM_P_EN);
|
||||
|
||||
#if 0
|
||||
kinetis_pinconfig(GPIO_VDD_BRICK_VALID);
|
||||
kinetis_pinconfig(GPIO_VDD_SERVO_VALID);
|
||||
kinetis_pinconfig(GPIO_VDD_5V_HIPOWER_OC);
|
||||
kinetis_pinconfig(GPIO_VDD_5V_PERIPH_OC);
|
||||
#endif
|
||||
|
||||
/* configure the GPIO pins to outputs and keep them low */
|
||||
kinetis_pinconfig(GPIO_GPIO0_OUTPUT);
|
||||
kinetis_pinconfig(GPIO_GPIO1_OUTPUT);
|
||||
kinetis_pinconfig(GPIO_GPIO2_OUTPUT);
|
||||
kinetis_pinconfig(GPIO_GPIO3_OUTPUT);
|
||||
kinetis_pinconfig(GPIO_GPIO4_OUTPUT);
|
||||
kinetis_pinconfig(GPIO_GPIO5_OUTPUT);
|
||||
kinetis_pinconfig(GPIO_GPIO6_OUTPUT);
|
||||
kinetis_pinconfig(GPIO_GPIO7_OUTPUT);
|
||||
kinetis_pinconfig(GPIO_GPIO8_OUTPUT);
|
||||
kinetis_pinconfig(GPIO_GPIO9_OUTPUT);
|
||||
kinetis_pinconfig(GPIO_GPIO10_OUTPUT);
|
||||
kinetis_pinconfig(GPIO_GPIO11_OUTPUT);
|
||||
kinetis_pinconfig(GPIO_GPIO12_OUTPUT);
|
||||
kinetis_pinconfig(GPIO_GPIO13_OUTPUT);
|
||||
|
||||
/* Disable Phy for now */
|
||||
|
||||
kinetis_pinconfig(GPIO_E_RST);
|
||||
kinetis_pinconfig(GPIO_E_EN);
|
||||
kinetis_pinconfig(GPIO_E_INH);
|
||||
kinetis_pinconfig(GPIO_ENET_CONFIG0);
|
||||
|
||||
kinetis_pinconfig(GPIO_CAN0_STB);
|
||||
kinetis_pinconfig(GPIO_CAN1_STB);
|
||||
|
||||
kinetis_pinconfig(GPIO_ECH);
|
||||
kinetis_pinconfig(GPIO_TRI);
|
||||
|
||||
kinetis_pinconfig(GPIO_LED_SAFETY);
|
||||
kinetis_pinconfig(GPIO_BTN_SAFETY);
|
||||
|
||||
kinetis_pinconfig(GPIO_TONE_ALARM_IDLE);
|
||||
|
||||
kinetis_pinconfig(GPIO_NFC_IO);
|
||||
kinetis_pinconfig(GPIO_SENSOR_P_EN);
|
||||
|
||||
kinetis_pinconfig(GPIO_LED_D9);
|
||||
kinetis_pinconfig(GPIO_LED_D10);
|
||||
const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
|
||||
board_gpio_init(gpio, arraySize(gpio));
|
||||
|
||||
nxphlite_timer_initialize();
|
||||
|
||||
/* configure SPI interfaces */
|
||||
|
||||
nxphlite_spidev_initialize();
|
||||
}
|
||||
|
||||
//FIXME: Stubs -----v
|
||||
|
|
@ -332,6 +294,16 @@ static void kinetis_serial_dma_poll(void)
|
|||
|
||||
__EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
|
||||
VDD_3V3_SD_CARD_EN(true);
|
||||
VDD_3V3_SENSORS_EN(true);
|
||||
|
||||
/* configure SPI interfaces */
|
||||
|
||||
nxphlite_spidev_initialize();
|
||||
|
||||
VDD_ETH_EN(true);
|
||||
|
||||
#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
|
||||
|
||||
/* run C++ ctors before we go any further */
|
||||
|
|
@ -346,11 +318,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
|||
# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
|
||||
#endif
|
||||
|
||||
/* Release Reset pins on Sensors */
|
||||
|
||||
kinetis_gpiowrite(GPIO_GM_nRST, 1);
|
||||
kinetis_gpiowrite(GPIO_A_RST, 0);
|
||||
|
||||
param_init();
|
||||
|
||||
/* configure the high-resolution time/callout interface */
|
||||
|
|
|
|||
|
|
@ -162,6 +162,8 @@ int nxphlite_sdhc_initialize(void)
|
|||
struct nxphlite_sdhc_state_s *sdhc = &g_sdhc;
|
||||
/* Configure GPIO pins */
|
||||
|
||||
VDD_3V3_SD_CARD_EN(true);
|
||||
|
||||
kinetis_pinconfig(GPIO_SD_CARDDETECT);
|
||||
|
||||
/* Attached the card detect interrupt (but don't enable it yet) */
|
||||
|
|
|
|||
|
|
@ -82,26 +82,81 @@ static const uint32_t spi2selects_gpio[] = PX4_EXTERNAL_BUS_CS_GPIO;
|
|||
|
||||
__EXPORT void board_spi_reset(int ms)
|
||||
{
|
||||
/* First float the A_MISO line tied to SA0 */
|
||||
/* Goal not to back feed the chips on the bus via IO lines */
|
||||
|
||||
kinetis_pinconfig(PX4_MK_GPIO(PIN_SPI1_SIN, PIN_MODE_ANALOG));
|
||||
/* First float the A_MISO line tied to SA0 to ensure SPI Auto selection*/
|
||||
|
||||
/* Power Down and up */
|
||||
kinetis_gpiowrite(GPIO_SENSOR_P_EN, true);
|
||||
up_mdelay(1);
|
||||
kinetis_gpiowrite(GPIO_SENSOR_P_EN, false);
|
||||
up_mdelay(1);
|
||||
kinetis_pinconfig(PX4_MK_GPIO(PIN_SPI1_SIN, GPIO_OPENDRAIN));
|
||||
kinetis_gpiowrite(PIN_SPI1_SIN, 1);
|
||||
|
||||
/* Next Change CS to inputs with pull downs */
|
||||
|
||||
for (unsigned int cs = 0; cs < arraySize(spi1selects_gpio); cs++) {
|
||||
if (spi1selects_gpio[cs] != 0) {
|
||||
kinetis_pinconfig(PX4_MK_GPIO(spi1selects_gpio[cs], GPIO_PULLDOWN));
|
||||
}
|
||||
}
|
||||
|
||||
/* Turn all the int inputs to inputs with pull down */
|
||||
|
||||
kinetis_pinconfig(PX4_MK_GPIO(GPIO_EXTI_GYRO_INT1, GPIO_PULLDOWN));
|
||||
kinetis_pinconfig(PX4_MK_GPIO(GPIO_EXTI_GYRO_INT2, GPIO_PULLDOWN));
|
||||
kinetis_pinconfig(PX4_MK_GPIO(GPIO_EXTI_ACCEL_MAG_INT1, GPIO_PULLDOWN));
|
||||
kinetis_pinconfig(PX4_MK_GPIO(GPIO_EXTI_ACCEL_MAG_INT2, GPIO_PULLDOWN));
|
||||
kinetis_pinconfig(PX4_MK_GPIO(GPIO_EXTI_BARO_INT1, GPIO_PULLDOWN));
|
||||
kinetis_pinconfig(PX4_MK_GPIO(GPIO_EXTI_BARO_INT2, GPIO_PULLDOWN));
|
||||
|
||||
/* Drive the Reset Pins LOW
|
||||
* For the Gyro FXAS21002C this is RESET
|
||||
* for the Accel FXOS8700CQ this is not RESET */
|
||||
|
||||
kinetis_gpiowrite(GPIO_GM_nRST, false);
|
||||
kinetis_gpiowrite(GPIO_A_RST, false);
|
||||
|
||||
/* Power Down The Sensors */
|
||||
|
||||
VDD_3V3_SENSORS_EN(false);
|
||||
up_mdelay(ms);
|
||||
|
||||
/* Power Up The Sensors */
|
||||
VDD_3V3_SENSORS_EN(true);
|
||||
up_mdelay(2);
|
||||
|
||||
/* Restore all the CS to ouputs inactive */
|
||||
|
||||
for (unsigned int cs = 0; cs < arraySize(spi1selects_gpio); cs++) {
|
||||
if (spi1selects_gpio[cs] != 0) {
|
||||
kinetis_pinconfig(spi1selects_gpio[cs]);
|
||||
}
|
||||
}
|
||||
|
||||
/* Restore all the int inputs to inputs */
|
||||
|
||||
kinetis_pinconfig(GPIO_EXTI_GYRO_INT1);
|
||||
kinetis_pinconfig(GPIO_EXTI_GYRO_INT2);
|
||||
kinetis_pinconfig(GPIO_EXTI_ACCEL_MAG_INT1);
|
||||
kinetis_pinconfig(GPIO_EXTI_ACCEL_MAG_INT2);
|
||||
kinetis_pinconfig(GPIO_EXTI_BARO_INT1);
|
||||
kinetis_pinconfig(GPIO_EXTI_BARO_INT2);
|
||||
|
||||
/* Set Rests Active */
|
||||
|
||||
kinetis_gpiowrite(GPIO_GM_nRST, false);
|
||||
/* Accel Assert Reset to reset the FXOS8700CQ */
|
||||
/* The Gyro was reset above */
|
||||
|
||||
kinetis_gpiowrite(GPIO_A_RST, true);
|
||||
up_mdelay(ms);
|
||||
|
||||
/* Accel & Gyro release Reset */
|
||||
|
||||
kinetis_gpiowrite(GPIO_A_RST, false);
|
||||
kinetis_gpiowrite(GPIO_GM_nRST, true);
|
||||
|
||||
kinetis_pinconfig(PIN_SPI1_SIN);
|
||||
/* Allow the Accel time to see PIN_SPI1_SIN as a float */
|
||||
|
||||
up_mdelay(2);
|
||||
|
||||
kinetis_pinconfig(PIN_SPI1_SIN);
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
|
|
@ -116,9 +171,6 @@ void nxphlite_spidev_initialize(void)
|
|||
{
|
||||
board_spi_reset(10);
|
||||
|
||||
kinetis_pinconfig(GPIO_EXTI_BARO_INT1);
|
||||
kinetis_pinconfig(GPIO_P_INT);
|
||||
|
||||
for (unsigned int cs = 0; cs < arraySize(spi0selects_gpio); cs++) {
|
||||
if (spi0selects_gpio[cs] != 0) {
|
||||
kinetis_pinconfig(spi0selects_gpio[cs]);
|
||||
|
|
|
|||
|
|
@ -57,7 +57,7 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
|
|||
.clock_register = KINETIS_SIM_SCGC6,
|
||||
.clock_bit = SIM_SCGC6_FTM0,
|
||||
.first_channel_index = 0,
|
||||
.last_channel_index = 5,
|
||||
.last_channel_index = 3,
|
||||
.handler = io_timer_handler0,
|
||||
.vectorno = KINETIS_IRQ_FTM0,
|
||||
|
||||
|
|
@ -66,99 +66,71 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
|
|||
.base = KINETIS_FTM3_BASE,
|
||||
.clock_register = KINETIS_SIM_SCGC3,
|
||||
.clock_bit = SIM_SCGC3_FTM3,
|
||||
.first_channel_index = 6,
|
||||
.last_channel_index = 13,
|
||||
.first_channel_index = 4,
|
||||
.last_channel_index = 5,
|
||||
.handler = io_timer_handler1,
|
||||
.vectorno = KINETIS_IRQ_FTM3,
|
||||
},
|
||||
{
|
||||
.base = KINETIS_FTM2_BASE,
|
||||
.clock_register = KINETIS_SIM_SCGC3,
|
||||
.clock_bit = SIM_SCGC3_FTM2,
|
||||
.first_channel_index = 6,
|
||||
.last_channel_index = 7,
|
||||
.handler = io_timer_handler2,
|
||||
.vectorno = KINETIS_IRQ_FTM2,
|
||||
}
|
||||
};
|
||||
|
||||
__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
{
|
||||
.gpio_out = GPIO_FTM0_CH0OUT,
|
||||
.gpio_out = GPIO_FTM0_CH0OUT, // FMU_CH1
|
||||
.gpio_in = GPIO_FTM0_CH0IN,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 1,
|
||||
.timer_channel = 1, // physical channel number +1
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_FTM0_CH3OUT,
|
||||
.gpio_out = GPIO_FTM0_CH3OUT, // FMU_CH2
|
||||
.gpio_in = GPIO_FTM0_CH3IN,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 4,
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_FTM0_CH4OUT,
|
||||
.gpio_out = GPIO_FTM0_CH4OUT, // FMU_CH3
|
||||
.gpio_in = GPIO_FTM0_CH4IN,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 5,
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_FTM0_CH5OUT,
|
||||
.gpio_out = GPIO_FTM0_CH5OUT, // FMU_CH4
|
||||
.gpio_in = GPIO_FTM0_CH5IN,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 6,
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_FTM0_CH6OUT,
|
||||
.gpio_in = GPIO_FTM0_CH6IN,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 7,
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_FTM0_CH7OUT,
|
||||
.gpio_in = GPIO_FTM0_CH7IN,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 8,
|
||||
},
|
||||
|
||||
{
|
||||
.gpio_out = GPIO_FTM3_CH0OUT,
|
||||
.gpio_in = GPIO_FTM3_CH0IN,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 1,
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_FTM3_CH1OUT,
|
||||
.gpio_in = GPIO_FTM3_CH1IN,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 2,
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_FTM3_CH2OUT,
|
||||
.gpio_in = GPIO_FTM3_CH2IN,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 3,
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_FTM3_CH3OUT,
|
||||
.gpio_in = GPIO_FTM3_CH3IN,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 4,
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_FTM3_CH4OUT,
|
||||
.gpio_in = GPIO_FTM3_CH4IN,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 5,
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_FTM3_CH5OUT,
|
||||
.gpio_in = GPIO_FTM3_CH5IN,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 6,
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_FTM3_CH6OUT,
|
||||
.gpio_out = GPIO_FTM3_CH6OUT, // FMU_CH5
|
||||
.gpio_in = GPIO_FTM3_CH6IN,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 7,
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_FTM3_CH7OUT,
|
||||
.gpio_out = GPIO_FTM3_CH7OUT, // FMU_CH6
|
||||
.gpio_in = GPIO_FTM3_CH7IN,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 8,
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_FTM3_CH0OUT, // U_TRI
|
||||
.gpio_in = GPIO_FTM3_CH0IN,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 1,
|
||||
},
|
||||
{
|
||||
.gpio_out = GPIO_FTM2_CH0OUT,
|
||||
.gpio_in = GPIO_FTM2_CH0IN, // U_ECH
|
||||
.timer_index = 2,
|
||||
.timer_channel = 1,
|
||||
},
|
||||
};
|
||||
|
||||
#define _REG(_addr) (*(volatile uint32_t *)(_addr))
|
||||
|
|
@ -209,20 +181,25 @@ __EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
|||
#define rPWMLOAD(t) REG(t,KINETIS_FTM_PWMLOAD_OFFSET)
|
||||
|
||||
#if !defined(BOARD_PWM_SRC_CLOCK_FREQ)
|
||||
#define BOARD_PWM_SRC_CLOCK_FREQ 4000000
|
||||
#define BOARD_PWM_SRC_CLOCK_FREQ 16000000
|
||||
#endif
|
||||
|
||||
|
||||
__EXPORT void nxphlite_timer_initialize(void)
|
||||
{
|
||||
|
||||
/* We will uses FTM2 (CH0) on PTA10 drive FTM_CLKIN0 (PCT12)*/
|
||||
|
||||
/* Y1 is 16 Mhz used to driver the FTM_CLKIN0 (PCT12) */
|
||||
|
||||
|
||||
kinetis_pinconfig(PIN_FTM2_CH0_1);
|
||||
/* Enable PCT12 as FTM_CLKIN0 */
|
||||
|
||||
kinetis_pinconfig(PIN_FTM_CLKIN0_3);
|
||||
|
||||
/* Select FTM_CLKIN0 as source for FTM0, FTM2, and FTM3 */
|
||||
|
||||
uint32_t regval = _REG(KINETIS_SIM_SOPT4);
|
||||
regval &= ~(SIM_SOPT4_FTM0CLKSEL | SIM_SOPT4_FTM3CLKSEL);
|
||||
regval &= ~(SIM_SOPT4_FTM0CLKSEL | SIM_SOPT4_FTM2CLKSEL | SIM_SOPT4_FTM3CLKSEL);
|
||||
_REG(KINETIS_SIM_SOPT4) = regval;
|
||||
|
||||
|
||||
|
|
@ -238,35 +215,4 @@ __EXPORT void nxphlite_timer_initialize(void)
|
|||
regval |= SIM_SCGC3_FTM2 | SIM_SCGC3_FTM3;
|
||||
_REG(KINETIS_SIM_SCGC3) = regval;
|
||||
|
||||
|
||||
/* disable and configure the FTM2 as
|
||||
* Bus Clock 56 Mhz
|
||||
* PS 1
|
||||
* MOD 7 for 4 Mhz
|
||||
*/
|
||||
|
||||
rSC(2) = FTM_SC_CLKS_NONE | FTM_SC_PS_1;
|
||||
rCNT(2) = 0;
|
||||
|
||||
/* Generate 2 times the Freq */
|
||||
|
||||
rMOD(2) = (BOARD_BUS_FREQ / (BOARD_PWM_SRC_CLOCK_FREQ * 2)) - 1;
|
||||
|
||||
/* toggle on every compare adds a divide by 2 */
|
||||
|
||||
rC0SC(2) = (FTM_CSC_CHF | FTM_CSC_MSA | FTM_CSC_ELSA);
|
||||
|
||||
/* Match on the wrap */
|
||||
|
||||
rC0V(2) = 0;
|
||||
|
||||
/* Set to run in debug mode */
|
||||
|
||||
rCONF(2) |= FTM_CONF_BDMMODE_MASK;
|
||||
|
||||
/* enable the timer */
|
||||
|
||||
rSC(2) |= FTM_SC_CLKS_SYSCLK;
|
||||
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -62,24 +62,22 @@
|
|||
#include "chip/kinetis_sim.h"
|
||||
#include "chip/kinetis_ftm.h"
|
||||
|
||||
/* The FTM prescalers are limited to Divide by 2^n where n={1-7}
|
||||
* Therefore we use the FTM2 CH0 on PTA10 drive FTM_CLKIN0 (PCT12)
|
||||
* and use this at a 4Mhz clock for FTM0 and FTM3.
|
||||
/* The FTM pre-scalers are limited to Divide by 2^n where n={1-7}
|
||||
* Therefore we use Y1 at 16 Mhz to drive FTM_CLKIN0 (PCT12)
|
||||
* and use this at a 16Mhz clock for FTM0, FTM2 and FTM3.
|
||||
*
|
||||
* The input frequencies avaialble from FTM2 are 56,28,14,7,3.5
|
||||
* So a onshot mode at 8Mhz is not possible. We will use 4Mhz
|
||||
*
|
||||
* FTM0 will drive FMU_CH1-6, FTM3 will drive IO_CH1-8
|
||||
* FTM0 will drive FMU_CH1-4, FTM3 will drive FMU_CH5,6, and
|
||||
* U_TRI. FTM2 will be used as input capture on U_ECH
|
||||
*/
|
||||
#if !defined(BOARD_PWM_FREQ)
|
||||
#define BOARD_PWM_FREQ 1000000
|
||||
#endif
|
||||
|
||||
#if !defined(BOARD_ONESHOT_FREQ)
|
||||
#define BOARD_ONESHOT_FREQ 4000000
|
||||
#define BOARD_ONESHOT_FREQ 8000000
|
||||
#endif
|
||||
|
||||
#define FTM_SRC_CLOCK_FREQ 4000000
|
||||
#define FTM_SRC_CLOCK_FREQ 16000000
|
||||
|
||||
#define MAX_CHANNELS_PER_TIMER 8
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue