diff --git a/boards/arm/imxrt/teensy-4.x/Kconfig b/boards/arm/imxrt/teensy-4.x/Kconfig new file mode 100644 index 0000000000..4fb15fc2d9 --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/Kconfig @@ -0,0 +1,36 @@ +# +# For a description of the syntax of this configuration file, +# see the file kconfig-language.txt in the NuttX tools repository. +# + +if ARCH_BOARD_TEENSY_4X +choice + prompt "Boot Flash" + default TEENSY4_QSPI_FLASH + +config TEENSY4_QSPI_FLASH + bool "QSPI Flash" + +endchoice # Boot Flash + +choice + prompt "Board configuration" + +config TEENSY_40 + bool "Teensy 4.0" + +config TEENSY_41 + bool "Teensy 4.1" + +endchoice # Board configuration + +menu "Sensors interfaces" + +config BMP280_LPI2C + int "LPI2C interface for BMP280 sensor" + depends on SENSORS_BMP280 + default 4 + +endmenu # Sensors interfaces + +endif diff --git a/boards/arm/imxrt/teensy-4.x/README.txt b/boards/arm/imxrt/teensy-4.x/README.txt new file mode 100644 index 0000000000..dd722849ab --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/README.txt @@ -0,0 +1,177 @@ +README +====== + + This README file provides information about the port of NuttX to the Teensy 4.x board. This board features the + MIMXRT1062DVL6A MCU. Some of the features of this board include: + + o Processor + + - MIMXRT1062DVL6A processor + + o Memory + + - 1 Mb RAM memory + - 2 Mb QSPI Flash + - 1 SDIO (4 bit) native SD + + o Connectivity + + - Micro USB host + - CAN transceivers + - 41 digital pins + - 14 analog pins, 2 ADCs on chip + +Contents +======== + + o LEDs + o Configurations + - Configuration sub-directories + +LEDs and buttons +================ + + LEDs + ---- + + There are two LED status indicators located on the Teensy-4.x board. + The functions of these LEDs include: + + - RED LED (loading status) + - dim: ready + - bright: writing + - blink: no USB + - USER LED(D8) + + Only a single LED, D8, is under software control. + + This LED is not used by the board port unless CONFIG_ARCH_LEDS is + defined. In that case, the usage by the board port is defined in + include/board.h and src/imxrt_autoleds.c. The LED is used to encode + OS-related events as follows: + + ------------------- ----------------------- ------ + SYMBOL Meaning LED + ------------------- ----------------------- ------ + LED_STARTED NuttX has been started OFF + LED_HEAPALLOCATE Heap has been allocated OFF + LED_IRQSENABLED Interrupts enabled OFF + LED_STACKCREATED Idle stack created ON + LED_INIRQ In an interrupt N/C + LED_SIGNAL In a signal handler N/C + LED_ASSERTION An assertion failed N/C + LED_PANIC The system has crashed FLASH + + Thus if the LED is statically on, NuttX has successfully booted and is, + apparently, running normally. If the LED is flashing at approximately + 2Hz, then a fatal error has been detected and the system has halted. + +Configurations +============== + + Information Common to All Configurations + ---------------------------------------- + Each Teensy-4.x configuration is maintained in a sub-directory and + can be selected as follow: + + tools/configure.sh [OPTIONS] teensy-4.x: + + Where typical options are -l to configure to build on Linux or -c to + configure for Cygwin under Linux. 'tools/configure.sh -h' will show + you all of the options. + + Before building, make sure the PATH environment variable include the + correct path to the directory than holds your toolchain binaries. + + And then build NuttX by simply typing the following. At the conclusion of + the make, the nuttx binary will reside in an ELF file called, simply, nuttx. + + make + + The that is provided above as an argument to the tools/configure.sh + must be is one of the following. + + NOTES: + + 1. These configurations use the mconf-based configuration tool. To + change any of these configurations using that tool, you should: + + a. Build and install the kconfig-mconf tool. See nuttx/README.txt + see additional README.txt files in the NuttX tools repository. + + b. Execute 'make menuconfig' in nuttx/ in order to start the + reconfiguration process. + + 2. All of these configurations are set up to build under Windows using the + "GNU Tools for ARM Embedded Processors" that is maintained by ARM + (unless stated otherwise in the description of the configuration). + + https://developer.arm.com/open-source/gnu-toolchain/gnu-rm + + That toolchain selection can easily be reconfigured using + 'make menuconfig'. Here are the relevant current settings: + + Build Setup: + CONFIG_HOST_WINDOWS=y : Window environment + CONFIG_WINDOWS_CYGWIN=y : Cywin under Windows + + System Type -> Toolchain: + CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIW=y : GNU ARM EABI toolchain + +Configuration sub-directories +----------------------------- + + + nsh-4.0: + + Configures the NuttShell (nsh) located at examples/nsh for Teensy 4.0. + This NSH configuration is focused on low level, command-line driver testing. + Built-in applications are supported, but none are enabled. NutShells then + runs on UART6: Pin 0 is RX and pin 1 is TX + + nsh-4.1: + + Configures the NuttShell (nsh) located at examples/nsh for Teensy 4.1. + This NSH configuration is focused on low level, command-line driver testing. + Built-in applications are supported, but none are enabled. NutShells then + runs on UART1: Pin 24 is TX and pin 25 is RX + + can-4.1: + + This is an nsh configuration (see above) for Teensy-4.x with added support of + CAN driver. FlexCAN3 is chosen as default, the change can be made at System + type peripheral selection. + + Bitrate and sample point can be also changed at System type peripheral selection, + basic values are 1 MHz for bitrate and 0.80 for sample point. The FlexCAN driver + for imxrt runs at 80 MHz clock frequency. + + The configuration also includes CAN utilities as candump and cansend. + + CAN_FD supported but not enabled. For CAN_FD please select following: + + CAN_FD = y + NET_CAN_CANFD = y + NET_CAN_SOCK_OPTS = y + + This configuration can be easily changed to work with Teensy 4.0 by + selecting CONFIG_TEENSY_40=y. + + netnsh-4.1: + + This configuration is similar to the nsh configuration except that is + has networking enabled, both IPv4 and IPv6. This NSH configuration is + focused on network-related testing. + + This configuration cannot be changed to Teensy 4.0 as this board does + not have Ethernet capability. + + sd-4.1 + + This is an nsh configuration (see above) for Teensy-4.x with added support of + connecting micro SD card. + + You can mount micro SD card by "mount -t vfat /dev/mmcsd0 /mnt" + + This configuration cannot be changed to Teensy 4.0 as this board does + not have micro SD card slot. diff --git a/boards/arm/imxrt/teensy-4.x/configs/can-4.1/defconfig b/boards/arm/imxrt/teensy-4.x/configs/can-4.1/defconfig new file mode 100644 index 0000000000..f87e886dc9 --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/configs/can-4.1/defconfig @@ -0,0 +1,80 @@ +# +# 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_NET_CAN_CANFD is not set +# CONFIG_NET_ETHERNET is not set +# CONFIG_NET_IPv4 is not set +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_TEENSY_41=y +CONFIG_CAN=y +CONFIG_CANUTILS_CANDUMP=y +CONFIG_CANUTILS_CANSEND=y +CONFIG_DEBUG_BINFMT=y +CONFIG_DEBUG_BINFMT_ERROR=y +CONFIG_DEBUG_BINFMT_INFO=y +CONFIG_DEBUG_BINFMT_WARN=y +CONFIG_DEBUG_CAN=y +CONFIG_DEBUG_CAN_ERROR=y +CONFIG_DEBUG_CAN_INFO=y +CONFIG_DEBUG_CAN_WARN=y +CONFIG_DEBUG_ERROR=y +CONFIG_DEBUG_FEATURES=y +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_INFO=y +CONFIG_DEBUG_IRQ=y +CONFIG_DEBUG_IRQ_ERROR=y +CONFIG_DEBUG_IRQ_INFO=y +CONFIG_DEBUG_IRQ_WARN=y +CONFIG_DEBUG_NET=y +CONFIG_DEBUG_NET_ERROR=y +CONFIG_DEBUG_NET_INFO=y +CONFIG_DEBUG_NET_WARN=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_DEBUG_WARN=y +CONFIG_FS_PROCFS=y +CONFIG_IDLETHREAD_STACKSIZE=2048 +CONFIG_IMXRT_FLEXCAN3=y +CONFIG_IMXRT_LPUART1=y +CONFIG_INTELHEX_BINARY=y +CONFIG_LPUART1_SERIAL_CONSOLE=y +CONFIG_MAX_TASKS=16 +CONFIG_NET=y +CONFIG_NETDEVICES=y +CONFIG_NETDEV_IFINDEX=y +CONFIG_NETDEV_LATEINIT=y +CONFIG_NETDEV_STATISTICS=y +CONFIG_NET_CAN=y +CONFIG_NET_CAN_NOTIFIER=y +CONFIG_NET_SOCKOPTS=y +CONFIG_NET_STATISTICS=y +CONFIG_NET_TIMESTAMP=y +CONFIG_NFILE_DESCRIPTORS=8 +CONFIG_NSH_ARCHINIT=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_FILEIOSIZE=512 +CONFIG_NSH_LINELEN=64 +CONFIG_NSH_READLINE=y +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_USER_ENTRYPOINT="nsh_main" diff --git a/boards/arm/imxrt/teensy-4.x/configs/netnsh-4.1/defconfig b/boards/arm/imxrt/teensy-4.x/configs/netnsh-4.1/defconfig new file mode 100644 index 0000000000..f125ae297a --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/configs/netnsh-4.1/defconfig @@ -0,0 +1,77 @@ +# +# 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_LEDS is not set +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_DEBUG_ERROR=y +CONFIG_DEBUG_FEATURES=y +CONFIG_DEBUG_INFO=y +CONFIG_DEBUG_NET=y +CONFIG_DEBUG_NET_ERROR=y +CONFIG_DEBUG_NET_INFO=y +CONFIG_DEBUG_NET_WARN=y +CONFIG_DEBUG_WARN=y +CONFIG_ETH0_PHY_DP83825I=y +CONFIG_FS_PROCFS=y +CONFIG_IDLETHREAD_STACKSIZE=2048 +CONFIG_IMXRT_ENET=y +CONFIG_IMXRT_LPUART1=y +CONFIG_INTELHEX_BINARY=y +CONFIG_LIB_HOSTNAME="Teensy 4.x" +CONFIG_LPUART1_SERIAL_CONSOLE=y +CONFIG_MAX_TASKS=16 +CONFIG_NET=y +CONFIG_NETDB_DNSCLIENT=y +CONFIG_NETDEV_STATISTICS=y +CONFIG_NETINIT_DHCPC=y +CONFIG_NETINIT_NOMAC=y +CONFIG_NETUTILS_TELNETD=y +CONFIG_NET_ARP_SEND=y +CONFIG_NET_BROADCAST=y +CONFIG_NET_ICMP=y +CONFIG_NET_ICMP_SOCKET=y +CONFIG_NET_ICMPv6=y +CONFIG_NET_ICMPv6_NEIGHBOR=y +CONFIG_NET_ICMPv6_SOCKET=y +CONFIG_NET_IPv6=y +CONFIG_NET_SOCKOPTS=y +CONFIG_NET_STATISTICS=y +CONFIG_NET_TCP=y +CONFIG_NET_TCPBACKLOG=y +CONFIG_NET_TCP_WRITE_BUFFERS=y +CONFIG_NET_UDP=y +CONFIG_NET_UDP_WRITE_BUFFERS=y +CONFIG_NFILE_DESCRIPTORS=8 +CONFIG_NSH_ARCHINIT=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_FILEIOSIZE=512 +CONFIG_NSH_LINELEN=64 +CONFIG_NSH_READLINE=y +CONFIG_RAM_SIZE=1048576 +CONFIG_RAM_START=0x20200000 +CONFIG_READLINE_CMD_HISTORY=y +CONFIG_SCHED_LPWORK=y +CONFIG_START_DAY=14 +CONFIG_START_MONTH=3 +CONFIG_SYSTEM_DHCPC_RENEW=y +CONFIG_SYSTEM_NSH=y +CONFIG_SYSTEM_PING6=y +CONFIG_SYSTEM_PING=y +CONFIG_TEENSY_41=y +CONFIG_USER_ENTRYPOINT="nsh_main" diff --git a/boards/arm/imxrt/teensy-4.x/configs/nsh-4.0/defconfig b/boards/arm/imxrt/teensy-4.x/configs/nsh-4.0/defconfig new file mode 100644 index 0000000000..5a488ef41d --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/configs/nsh-4.0/defconfig @@ -0,0 +1,40 @@ +# +# 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_TEENSY_40=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_FS_PROCFS=y +CONFIG_IDLETHREAD_STACKSIZE=2048 +CONFIG_IMXRT_LPUART6=y +CONFIG_INTELHEX_BINARY=y +CONFIG_LPUART6_SERIAL_CONSOLE=y +CONFIG_MAX_TASKS=16 +CONFIG_NFILE_DESCRIPTORS=8 +CONFIG_NSH_ARCHINIT=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_DISABLE_IFUPDOWN=y +CONFIG_NSH_FILEIOSIZE=512 +CONFIG_NSH_LINELEN=64 +CONFIG_NSH_READLINE=y +CONFIG_RAM_SIZE=1048576 +CONFIG_RAM_START=0x20200000 +CONFIG_START_DAY=14 +CONFIG_START_MONTH=3 +CONFIG_SYSTEM_NSH=y +CONFIG_USER_ENTRYPOINT="nsh_main" diff --git a/boards/arm/imxrt/teensy-4.x/configs/nsh-4.1/defconfig b/boards/arm/imxrt/teensy-4.x/configs/nsh-4.1/defconfig new file mode 100644 index 0000000000..e8382126e1 --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/configs/nsh-4.1/defconfig @@ -0,0 +1,40 @@ +# +# 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_FS_PROCFS=y +CONFIG_IDLETHREAD_STACKSIZE=2048 +CONFIG_IMXRT_LPUART1=y +CONFIG_INTELHEX_BINARY=y +CONFIG_LPUART1_SERIAL_CONSOLE=y +CONFIG_MAX_TASKS=16 +CONFIG_NFILE_DESCRIPTORS=8 +CONFIG_NSH_ARCHINIT=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_DISABLE_IFUPDOWN=y +CONFIG_NSH_FILEIOSIZE=512 +CONFIG_NSH_LINELEN=64 +CONFIG_NSH_READLINE=y +CONFIG_RAM_SIZE=1048576 +CONFIG_RAM_START=0x20200000 +CONFIG_START_DAY=14 +CONFIG_START_MONTH=3 +CONFIG_SYSTEM_NSH=y +CONFIG_TEENSY_41=y +CONFIG_USER_ENTRYPOINT="nsh_main" diff --git a/boards/arm/imxrt/teensy-4.x/configs/sd-4.1/defconfig b/boards/arm/imxrt/teensy-4.x/configs/sd-4.1/defconfig new file mode 100644 index 0000000000..8bb085bad8 --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/configs/sd-4.1/defconfig @@ -0,0 +1,65 @@ +# +# 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_MMCSD_HAVE_WRITEPROTECT is not set +# CONFIG_MMCSD_SPI is not set +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_DEBUG_ASSERTIONS=y +CONFIG_DEBUG_ERROR=y +CONFIG_DEBUG_FEATURES=y +CONFIG_DEBUG_FS=y +CONFIG_DEBUG_FS_ERROR=y +CONFIG_DEBUG_FS_INFO=y +CONFIG_DEBUG_FS_WARN=y +CONFIG_DEBUG_INFO=y +CONFIG_DEBUG_WARN=y +CONFIG_FAT_LCNAMES=y +CONFIG_FAT_LFN=y +CONFIG_FS_FAT=y +CONFIG_FS_PROCFS=y +CONFIG_IDLETHREAD_STACKSIZE=2048 +CONFIG_IMXRT_LPUART1=y +CONFIG_IMXRT_USDHC1=y +CONFIG_IMXRT_USDHC1_INVERT_CD=y +CONFIG_IMXRT_USDHC1_WIDTH_D1_D4=y +CONFIG_INTELHEX_BINARY=y +CONFIG_LPUART1_SERIAL_CONSOLE=y +CONFIG_MAX_TASKS=16 +CONFIG_MMCSD=y +CONFIG_MMCSD_MULTIBLOCK_DISABLE=y +CONFIG_MMCSD_SDIO=y +CONFIG_NFILE_DESCRIPTORS=8 +CONFIG_NSH_ARCHINIT=y +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_DISABLE_IFUPDOWN=y +CONFIG_NSH_FILEIOSIZE=512 +CONFIG_NSH_LINELEN=64 +CONFIG_NSH_READLINE=y +CONFIG_RAM_SIZE=1048576 +CONFIG_RAM_START=0x20200000 +CONFIG_SCHED_HPWORK=y +CONFIG_SDIO_BLOCKSETUP=y +CONFIG_SPI=y +CONFIG_SPI_CALLBACK=y +CONFIG_SPI_CMDDATA=y +CONFIG_START_DAY=14 +CONFIG_START_MONTH=3 +CONFIG_SYSTEM_NSH=y +CONFIG_TEENSY_41=y +CONFIG_USER_ENTRYPOINT="nsh_main" diff --git a/boards/arm/imxrt/teensy-4.x/include/board.h b/boards/arm/imxrt/teensy-4.x/include/board.h new file mode 100644 index 0000000000..86a9665733 --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/include/board.h @@ -0,0 +1,311 @@ +/**************************************************************************** + * boards/arm/imxrt/teensy-4.x/include/board.h + * + * 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. + * + ****************************************************************************/ + +#ifndef __BOARDS_ARM_IMXRT_TEENSY_4_INCLUDE_BOARD_H +#define __BOARDS_ARM_IMXRT_TEENSY_4_INCLUDE_BOARD_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +/* Do not include i.MXRT header files here. */ + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* Clocking *****************************************************************/ + +/* Set VDD_SOC to 1.25V */ + +#define IMXRT_VDD_SOC (0x12) + +/* Set Arm PLL (PLL1) to fOut = (24Mhz * ARM_PLL_DIV_SELECT/2) / + * ARM_PODF_DIVISOR + * 600Mhz = (24Mhz * ARM_PLL_DIV_SELECT/2) / + * ARM_PODF_DIVISOR + * ARM_PLL_DIV_SELECT = 100 + * ARM_PODF_DIVISOR = 2 + * 600Mhz = (24Mhz * 100/2) / 2 + * + * AHB_CLOCK_ROOT = PLL1fOut / IMXRT_AHB_PODF_DIVIDER + * 1Hz to 600 MHz = 600Mhz / IMXRT_ARM_CLOCK_DIVIDER + * IMXRT_ARM_CLOCK_DIVIDER = 1 + * 600Mhz = 600Mhz / 1 + * + * PRE_PERIPH_CLK_SEL = PRE_PERIPH_CLK_SEL_PLL1 + * PERIPH_CLK_SEL = 1 (0 select PERIPH_CLK2_PODF, + * 1 select PRE_PERIPH_CLK_SEL_PLL1) + * PERIPH_CLK = 600Mhz + * + * IPG_CLOCK_ROOT = AHB_CLOCK_ROOT / IMXRT_IPG_PODF_DIVIDER + * IMXRT_IPG_PODF_DIVIDER = 4 + * 150Mhz = 600Mhz / 4 + * + * PRECLK_CLOCK_ROOT = IPG_CLOCK_ROOT / + * IMXRT_PERCLK_PODF_DIVIDER + * IMXRT_PERCLK_PODF_DIVIDER = 9 + * 16.6Mhz = 150Mhz / 9 + * + * SEMC_CLK_ROOT = 600Mhz / IMXRT_SEMC_PODF_DIVIDER + * (labeled AIX_PODF in 18.2) + * IMXRT_SEMC_PODF_DIVIDER = 8 + * 75Mhz = 600Mhz / 8 + * + * Set Sys PLL (PLL2) to fOut = (24Mhz * (20+(2*(DIV_SELECT))) + * 528Mhz = (24Mhz * (20+(2*(1))) + * + * Set USB1 PLL (PLL3) to fOut = (24Mhz * 20) + * 480Mhz = (24Mhz * 20) + * + * Set LPSPI PLL3 PFD0 to fOut = (480Mhz / 12 * 18) + * 720Mhz = (480Mhz / 12 * 18) + * 90Mhz = (720Mhz / LSPI_PODF_DIVIDER) + * + * Set LPI2C PLL3 / 8 to fOut = (480Mhz / 8) + * 60Mhz = (480Mhz / 8) + * 12Mhz = (60Mhz / LSPI_PODF_DIVIDER) + * + * These clock frequencies can be verified via the CCM_CLKO1 pin and sending + * the appropriate clock to it with something like; + * + * putreg32( | CCM_CCOSR_CLKO1_EN , IMXRT_CCM_CCOSR); + * imxrt_config_gpio(GPIO_CCM_CLKO1); + */ + +#define BOARD_XTAL_FREQUENCY 24000000 +#define IMXRT_PRE_PERIPH_CLK_SEL CCM_CBCMR_PRE_PERIPH_CLK_SEL_PLL1 +#define IMXRT_PERIPH_CLK_SEL CCM_CBCDR_PERIPH_CLK_SEL_PRE_PERIPH +#define IMXRT_ARM_PLL_DIV_SELECT 100 +#define IMXRT_ARM_PODF_DIVIDER 2 +#define IMXRT_AHB_PODF_DIVIDER 1 +#define IMXRT_IPG_PODF_DIVIDER 4 +#define IMXRT_PERCLK_CLK_SEL CCM_CSCMR1_PERCLK_CLK_SEL_IPG_CLK_ROOT +#define IMXRT_PERCLK_PODF_DIVIDER 9 +#define IMXRT_SEMC_PODF_DIVIDER 8 + +#define IMXRT_LPSPI_CLK_SELECT CCM_CBCMR_LPSPI_CLK_SEL_PLL3_PFD0 +#define IMXRT_LSPI_PODF_DIVIDER 8 + +#define IMXRT_LPI2C_CLK_SELECT CCM_CSCDR2_LPI2C_CLK_SEL_PLL3_60M +#define IMXRT_LSI2C_PODF_DIVIDER 5 + +#define IMXRT_CAN_CLK_SELECT CCM_CSCMR2_CAN_CLK_SEL_PLL3_SW_80 +#define IMXRT_CAN_PODF_DIVIDER 1 + +#define IMXRT_SYS_PLL_SELECT CCM_ANALOG_PLL_SYS_DIV_SELECT_22 + +#define IMXRT_USB1_PLL_DIV_SELECT CCM_ANALOG_PLL_USB1_DIV_SELECT_20 + +#define BOARD_CPU_FREQUENCY \ + (BOARD_XTAL_FREQUENCY * (IMXRT_ARM_PLL_DIV_SELECT / 2)) / IMXRT_ARM_PODF_DIVIDER + +/* Define this to enable tracing */ + +#if 0 +# define IMXRT_TRACE_PODF_DIVIDER 1 +# define IMXRT_TRACE_CLK_SELECT CCM_CBCMR_TRACE_CLK_SEL_PLL2_PFD0 +#endif + +/* LED definitions **********************************************************/ + +/* There are four LED status indicators located on the EVK Board. + * The functions of these LEDs include: + * + * - Main Power Supply(D3) + * Green: DC 5V main supply is normal. + * Red: J2 input voltage is over 5.6V. + * Off: The board is not powered. + * - Reset RED LED(D15) + * - OpenSDA LED(D16) + * - USER LED(D8) + * + * Only a single LED, D8, is under software control. + */ + +/* LED index values for use with board_userled() */ + +#define BOARD_USERLED 0 +#define BOARD_NLEDS 1 + +/* LED bits for use with board_userled_all() */ + +#define BOARD_USERLED_BIT (1 << BOARD_USERLED) + +/* This LED is not used by the board port unless CONFIG_ARCH_LEDS is + * defined. In that case, the usage by the board port is defined in + * include/board.h and src/imxrt_autoleds.c. The LED is used to encode + * OS-related events as follows: + * + * -------------------- ----------------------------- ------ + * SYMBOL Meaning LED + * -------------------- ----------------------------- ------ + */ + +#define LED_STARTED 0 /* NuttX has been started OFF */ +#define LED_HEAPALLOCATE 0 /* Heap has been allocated OFF */ +#define LED_IRQSENABLED 0 /* Interrupts enabled OFF */ +#define LED_STACKCREATED 1 /* Idle stack created ON */ +#define LED_INIRQ 2 /* In an interrupt N/C */ +#define LED_SIGNAL 2 /* In a signal handler N/C */ +#define LED_ASSERTION 2 /* An assertion failed N/C */ +#define LED_PANIC 3 /* The system has crashed FLASH */ +#undef LED_IDLE /* Not used */ + +/* Thus if the LED is statically on, NuttX has successfully booted and is, + * apparently, running normally. If the LED is flashing at approximately + * 2Hz, then a fatal error has been detected and the system has halted. + */ + +/* SDIO *********************************************************************/ + +/* Pin drive characteristics - drive strength in particular may need tuning + * for specific boards, but has been checked by scope on the EVKB to make + * sure shapes are square with minimal ringing. + */ + +#define PIN_USDHC1_D0 (GPIO_USDHC1_DATA0_1 | IOMUX_USDHC1_DATAX_DEFAULT) +#define PIN_USDHC1_D1 (GPIO_USDHC1_DATA1_1 | IOMUX_USDHC1_DATAX_DEFAULT) +#define PIN_USDHC1_D2 (GPIO_USDHC1_DATA3_1 | IOMUX_USDHC1_DATAX_DEFAULT) +#define PIN_USDHC1_D3 (GPIO_USDHC1_DATA2_1 | IOMUX_USDHC1_DATAX_DEFAULT) +#define PIN_USDHC1_DCLK (GPIO_USDHC1_CLK_1 | IOMUX_USDHC1_CLK_DEFAULT) +#define PIN_USDHC1_CMD (GPIO_USDHC1_CMD_1 | IOMUX_USDHC1_CMD_DEFAULT) +#define PIN_USDHC1_CD (PIN_USDHC1_D3) + +/* 386 KHz for initial inquiry stuff */ + +#define BOARD_USDHC_IDMODE_PRESCALER USDHC_SYSCTL_SDCLKFS_DIV256 +#define BOARD_USDHC_IDMODE_DIVISOR USDHC_SYSCTL_DVS_DIV(2) + +/* 24.8MHz for other modes */ + +#define BOARD_USDHC_MMCMODE_PRESCALER USDHC_SYSCTL_SDCLKFS_DIV8 +#define BOARD_USDHC_MMCMODE_DIVISOR USDHC_SYSCTL_DVS_DIV(1) + +#define BOARD_USDHC_SD1MODE_PRESCALER USDHC_SYSCTL_SDCLKFS_DIV8 +#define BOARD_USDHC_SD1MODE_DIVISOR USDHC_SYSCTL_DVS_DIV(1) + +#define BOARD_USDHC_SD4MODE_PRESCALER USDHC_SYSCTL_SDCLKFS_DIV8 +#define BOARD_USDHC_SD4MODE_DIVISOR USDHC_SYSCTL_DVS_DIV(1) + +/* ETH Disambiguation *******************************************************/ + +#define GPIO_ENET_TX_DATA00 (GPIO_ENET_TX_DATA00_1| \ + IOMUX_ENET_DATA_DEFAULT) /* GPIO_B1_07 */ +#define GPIO_ENET_TX_DATA01 (GPIO_ENET_TX_DATA01_1| \ + IOMUX_ENET_DATA_DEFAULT) /* GPIO_B1_08 */ +#define GPIO_ENET_RX_DATA00 (GPIO_ENET_RX_DATA00_1| \ + IOMUX_ENET_DATA_DEFAULT) /* GPIO_B1_04 */ +#define GPIO_ENET_RX_DATA01 (GPIO_ENET_RX_DATA01_1| \ + IOMUX_ENET_DATA_DEFAULT) /* GPIO_B1_05 */ +#define GPIO_ENET_MDIO (GPIO_ENET_MDIO_1|IOMUX_ENET_MDIO_DEFAULT) /* GPIO_B1_15 */ +#define GPIO_ENET_MDC (GPIO_ENET_MDC_1|IOMUX_ENET_MDC_DEFAULT) /* GPIO_B1_14 */ +#define GPIO_ENET_RX_EN (GPIO_ENET_RX_EN_1|IOMUX_ENET_EN_DEFAULT) /* GPIO_B1_06 */ +#define GPIO_ENET_RX_ER (GPIO_ENET_RX_ER_1|IOMUX_ENET_RXERR_DEFAULT) /* GPIO_B1_11 */ +#define GPIO_ENET_TX_CLK (GPIO_ENET_REF_CLK_2|\ + IOMUX_ENET_TX_CLK_DEFAULT) /* GPIO_B1_10 */ +#define GPIO_ENET_TX_EN (GPIO_ENET_TX_EN_1|IOMUX_ENET_EN_DEFAULT) /* GPIO_B1_09 */ + +/* PIO Disambiguation *******************************************************/ + +/* LPUARTs + * + * Virtual console port provided by OpenSDA on UART1 and + * Arduino RS-232 Shield on UART3. + * + */ + +#define GPIO_LPUART1_RX (GPIO_LPUART1_RX_1|IOMUX_UART_DEFAULT) /* GPIO_AD_B0_13 */ +#define GPIO_LPUART1_TX (GPIO_LPUART1_TX_1|IOMUX_UART_DEFAULT) /* GPIO_AD_B0_12 */ +#define GPIO_LPUART3_RX (GPIO_LPUART3_RX_1|IOMUX_UART_DEFAULT) /* GPIO_AD_B1_07 */ +#define GPIO_LPUART3_TX (GPIO_LPUART3_TX_1|IOMUX_UART_DEFAULT) /* GPIO_AD_B1_06 */ +#define GPIO_LPUART6_RX (GPIO_LPUART6_RX_1|IOMUX_UART_DEFAULT) /* GPIO_AD_B0_03 */ +#define GPIO_LPUART6_TX (GPIO_LPUART6_TX_1|IOMUX_UART_DEFAULT) /* GPIO_AD_B0_02 */ + +/* LPI2Cs */ + +#define GPIO_LPI2C1_SDA (GPIO_LPI2C1_SDA_2|IOMUX_LPI2C_DEFAULT) /* GPIO_AD_B1_01 */ +#define GPIO_LPI2C1_SCL (GPIO_LPI2C1_SCL_2|IOMUX_LPI2C_DEFAULT) /* GPIO_AD_B1_00 */ +#define GPIO_LPI2C3_SDA (GPIO_LPI2C3_SDA_1|IOMUX_LPI2C_DEFAULT) /* GPIO_AD_B1_06 */ +#define GPIO_LPI2C3_SCL (GPIO_LPI2C3_SCL_1|IOMUX_LPI2C_DEFAULT) /* GPIO_AD_B1_07 */ +#define GPIO_LPI2C4_SDA (GPIO_LPI2C4_SDA_1|IOMUX_LPI2C_DEFAULT) /* GPIO_AD_B0_13 */ +#define GPIO_LPI2C4_SCL (GPIO_LPI2C4_SCL_1|IOMUX_LPI2C_DEFAULT) /* GPIO_AD_B0_12 */ + +/* LPSPI3 + * + * pin 39 GPIO_AD_B1_13 LPSPI3_SDI + * pin 26 GPIO_AD_B1_14 LPSPI3_SDO + * pin 27 GPIO_AD_B1_15 LPSPI3_SCK + */ + +#define GPIO_LPSPI3_MOSI (GPIO_LPSPI3_SDI_1|IOMUX_LPSPI_DEFAULT) /* GPIO_AD_B1_13 */ +#define GPIO_LPSPI3_MISO (GPIO_LPSPI3_SDO_1|IOMUX_LPSPI_DEFAULT) /* GPIO_AD_B1_14 */ +#define GPIO_LPSPI3_SCK (GPIO_LPSPI3_SCK_1|IOMUX_LPSPI_DEFAULT) /* GPIO_AD_B1_15 */ + +/* LPSPI4 + * + * pin 12 GPIO_B0_01 LPSPI3_SDI + * pin 11 GPIO_B0_02 LPSPI3_SDO + * pin 13 GPIO_B0_03 LPSPI3_SCK + */ + +#define GPIO_LPSPI4_MOSI (GPIO_LPSPI4_SDI_2|IOMUX_LPSPI_DEFAULT) /* GPIO_B0_01 */ +#define GPIO_LPSPI4_MISO (GPIO_LPSPI4_SDO_2|IOMUX_LPSPI_DEFAULT) /* GPIO_B0_02 */ +#define GPIO_LPSPI4_SCK (GPIO_LPSPI4_SCK_2|IOMUX_LPSPI_DEFAULT) /* GPIO_B0_03 */ + +/* FlexCAN */ + +#define GPIO_FLEXCAN1_TX (GPIO_FLEXCAN1_TX_1|IOMUX_CAN_DEFAULT) /* GPIO_AD_B1_08 */ +#define GPIO_FLEXCAN1_RX (GPIO_FLEXCAN1_RX_1|IOMUX_CAN_DEFAULT) /* GPIO_AD_B1_09 */ + +#define GPIO_FLEXCAN2_TX (GPIO_FLEXCAN2_TX_1|IOMUX_CAN_DEFAULT) /* GPIO_AD_B0_02 */ +#define GPIO_FLEXCAN2_RX (GPIO_FLEXCAN2_RX_1|IOMUX_CAN_DEFAULT) /* GPIO_AD_B0_03 */ + +#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 */ + +/**************************************************************************** + * Public Types + ****************************************************************************/ + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +#ifndef __ASSEMBLY__ + +#undef EXTERN +#if defined(__cplusplus) +#define EXTERN extern "C" +extern "C" +{ +#else +#define EXTERN extern +#endif + +#undef EXTERN +#if defined(__cplusplus) +} +#endif + +#endif /* __ASSEMBLY__ */ +#endif /* __BOARDS_ARM_IMXRT_TEENSY_4_INCLUDE_BOARD_H */ diff --git a/boards/arm/imxrt/teensy-4.x/kernel/Makefile b/boards/arm/imxrt/teensy-4.x/kernel/Makefile new file mode 100644 index 0000000000..0e17d49f33 --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/kernel/Makefile @@ -0,0 +1,103 @@ +############################################################################ +# boards/arm/imxrt/teensy-4.x/kernel/Make.defs +# +# 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. +# +############################################################################ + +include $(TOPDIR)/Make.defs + +# The entry point name (if none is provided in the .config file) + +CONFIG_USER_ENTRYPOINT ?= user_start +ENTRYPT = $(patsubst "%",%,$(CONFIG_USER_ENTRYPOINT)) + +# Get the paths to the libraries and the links script path in format that +# is appropriate for the host OS + +ifeq ($(CONFIG_CYGWIN_WINTOOL),y) + # Windows-native toolchains + USER_LIBPATHS = ${shell for path in $(USERLIBS); do dir=`dirname $(TOPDIR)$(DELIM)$$path`;echo "-L\"`cygpath -w $$dir`\"";done} + USER_LDSCRIPT = -T "${shell cygpath -w $(BOARD_DIR)$(DELIM)scripts$(DELIM)memory.ld}" + USER_LDSCRIPT += -T "${shell cygpath -w $(BOARD_DIR)$(DELIM)scripts$(DELIM)user-space.ld}" + USER_HEXFILE += "${shell cygpath -w $(TOPDIR)$(DELIM)nuttx_user.hex}" + USER_SRECFILE += "${shell cygpath -w $(TOPDIR)$(DELIM)nuttx_user.srec}" + USER_BINFILE += "${shell cygpath -w $(TOPDIR)$(DELIM)nuttx_user.bin}" +else + # Linux/Cygwin-native toolchain + USER_LIBPATHS = $(addprefix -L$(TOPDIR)$(DELIM),$(dir $(USERLIBS))) + USER_LDSCRIPT = -T$(BOARD_DIR)$(DELIM)scripts$(DELIM)memory.ld + USER_LDSCRIPT += -T$(BOARD_DIR)$(DELIM)scripts$(DELIM)user-space.ld + USER_HEXFILE += "$(TOPDIR)$(DELIM)nuttx_user.hex" + USER_SRECFILE += "$(TOPDIR)$(DELIM)nuttx_user.srec" + USER_BINFILE += "$(TOPDIR)$(DELIM)nuttx_user.bin" +endif + +USER_LDFLAGS = --undefined=$(ENTRYPT) --entry=$(ENTRYPT) $(USER_LDSCRIPT) +USER_LDLIBS = $(patsubst lib%,-l%,$(basename $(notdir $(USERLIBS)))) +USER_LIBGCC = "${shell "$(CC)" $(ARCHCPUFLAGS) -print-libgcc-file-name}" + +# Source files + +CSRCS = imxrt_userspace.c +COBJS = $(CSRCS:.c=$(OBJEXT)) +OBJS = $(COBJS) + +# Targets: + +all: $(TOPDIR)$(DELIM)nuttx_user.elf $(TOPDIR)$(DELIM)User.map +.PHONY: nuttx_user.elf depend clean distclean + +$(COBJS): %$(OBJEXT): %.c + $(call COMPILE, $<, $@) + +# Create the nuttx_user.elf file containing all of the user-mode code + +nuttx_user.elf: $(OBJS) + $(Q) $(LD) -o $@ $(USER_LDFLAGS) $(USER_LIBPATHS) $(OBJS) --start-group $(USER_LDLIBS) --end-group $(USER_LIBGCC) + +$(TOPDIR)$(DELIM)nuttx_user.elf: nuttx_user.elf + @echo "LD: nuttx_user.elf" + $(Q) cp -a nuttx_user.elf $(TOPDIR)$(DELIM)nuttx_user.elf +ifeq ($(CONFIG_INTELHEX_BINARY),y) + @echo "CP: nuttx_user.hex" + $(Q) $(OBJCOPY) $(OBJCOPYARGS) -O ihex nuttx_user.elf $(USER_HEXFILE) +endif +ifeq ($(CONFIG_MOTOROLA_SREC),y) + @echo "CP: nuttx_user.srec" + $(Q) $(OBJCOPY) $(OBJCOPYARGS) -O srec nuttx_user.elf $(USER_SRECFILE) +endif +ifeq ($(CONFIG_RAW_BINARY),y) + @echo "CP: nuttx_user.bin" + $(Q) $(OBJCOPY) $(OBJCOPYARGS) -O binary nuttx_user.elf $(USER_BINFILE) +endif + +$(TOPDIR)$(DELIM)User.map: nuttx_user.elf + @echo "MK: User.map" + $(Q) $(NM) nuttx_user.elf >$(TOPDIR)$(DELIM)User.map + $(Q) $(CROSSDEV)size nuttx_user.elf + +.depend: + +depend: .depend + +clean: + $(call DELFILE, nuttx_user.elf) + $(call DELFILE, "$(TOPDIR)$(DELIM)nuttx_user.*") + $(call DELFILE, "$(TOPDIR)$(DELIM)User.map") + $(call CLEAN) + +distclean: clean diff --git a/boards/arm/imxrt/teensy-4.x/kernel/imxrt_userspace.c b/boards/arm/imxrt/teensy-4.x/kernel/imxrt_userspace.c new file mode 100644 index 0000000000..557da3d934 --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/kernel/imxrt_userspace.c @@ -0,0 +1,116 @@ +/**************************************************************************** + * boards/arm/imxrt/teensy-4.x/kernel/imxrt_userspace.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 + +#include + +#include +#include +#include + +#if defined(CONFIG_BUILD_PROTECTED) && !defined(__KERNEL__) + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* Configuration ************************************************************/ + +#ifndef CONFIG_NUTTX_USERSPACE +# error "CONFIG_NUTTX_USERSPACE not defined" +#endif + +#if CONFIG_NUTTX_USERSPACE != 0x60200000 +# error "CONFIG_NUTTX_USERSPACE must be 0x60200000 to match user-space.ld" +#endif + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +/* These 'addresses' of these values are setup by the linker script. + * They are not actual uint32_t storage locations! + * They are only used meaningfully in the following way: + * + * - The linker script defines, for example, the symbol_sdata. + * - The declareion extern uint32_t _sdata; makes C happy. C will believe + * that the value _sdata is the address of a uint32_t variable _data (it + * is not!). + * - We can recoved the linker value then by simply taking the address of + * of _data. like: uint32_t *pdata = &_sdata; + */ + +extern uint32_t _stext; /* Start of .text */ +extern uint32_t _etext; /* End_1 of .text + .rodata */ +extern const uint32_t _eronly; /* End+1 of read only section (.text + .rodata) */ +extern uint32_t _sdata; /* Start of .data */ +extern uint32_t _edata; /* End+1 of .data */ +extern uint32_t _sbss; /* Start of .bss */ +extern uint32_t _ebss; /* End+1 of .bss */ + +/* This is the user space entry point */ + +int CONFIG_USER_ENTRYPOINT(int argc, char *argv[]); + +const struct userspace_s userspace __attribute__ ((section (".userspace"))) = +{ + /* General memory map */ + + .us_entrypoint = (main_t)CONFIG_USER_ENTRYPOINT, + .us_textstart = (uintptr_t)&_stext, + .us_textend = (uintptr_t)&_etext, + .us_datasource = (uintptr_t)&_eronly, + .us_datastart = (uintptr_t)&_sdata, + .us_dataend = (uintptr_t)&_edata, + .us_bssstart = (uintptr_t)&_sbss, + .us_bssend = (uintptr_t)&_ebss, + + /* Memory manager heap structure */ + + .us_heap = &g_mmheap, + + /* Task/thread startup routines */ + + .task_startup = nxtask_startup, +#ifndef CONFIG_DISABLE_PTHREAD + .pthread_startup = pthread_startup, +#endif + + /* Signal handler trampoline */ + + .signal_handler = up_signal_handler, + + /* User-space work queue support (declared in include/nuttx/wqueue.h) */ + +#ifdef CONFIG_LIB_USRWORK + .work_usrstart = work_usrstart, +#endif +}; + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +#endif /* CONFIG_BUILD_PROTECTED && !__KERNEL__ */ diff --git a/boards/arm/imxrt/teensy-4.x/scripts/Make.defs b/boards/arm/imxrt/teensy-4.x/scripts/Make.defs new file mode 100644 index 0000000000..2757a0e2ae --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/scripts/Make.defs @@ -0,0 +1,96 @@ +############################################################################ +# boards/arm/imxrt/teensy-4.x/scripts/Make.defs +# +# 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. +# +############################################################################ + +include $(TOPDIR)/.config +include $(TOPDIR)/tools/Config.mk +include $(TOPDIR)/arch/arm/src/armv7-m/Toolchain.defs + +ifeq ($(CONFIG_BOOT_RUNFROMFLASH),y) + LDSCRIPT = flash.ld +else ifeq ($(CONFIG_BOOT_RUNFROMISRAM),y) + LDSCRIPT = flash-ocram.ld +endif + +ifeq ($(CONFIG_CYGWIN_WINTOOL),y) + ARCHSCRIPT = -T "${shell cygpath -w $(BOARD_DIR)$(DELIM)scripts$(DELIM)$(LDSCRIPT)}" +else + ARCHSCRIPT = -T$(BOARD_DIR)$(DELIM)scripts$(DELIM)$(LDSCRIPT) +endif + +CC = $(CROSSDEV)gcc +CXX = $(CROSSDEV)g++ +CPP = $(CROSSDEV)gcc -E +LD = $(CROSSDEV)ld +STRIP = $(CROSSDEV)strip --strip-unneeded +AR = $(CROSSDEV)ar rcs +NM = $(CROSSDEV)nm +OBJCOPY = $(CROSSDEV)objcopy +OBJDUMP = $(CROSSDEV)objdump + +ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'} +ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1} + +ifeq ($(CONFIG_DEBUG_SYMBOLS),y) + ARCHOPTIMIZATION = -g +endif + +ifneq ($(CONFIG_DEBUG_NOOPT),y) + ARCHOPTIMIZATION += $(MAXOPTIMIZATION) +endif + +ARCHCFLAGS = -fno-builtin +ARCHCXXFLAGS = -fno-builtin -fno-exceptions -fcheck-new -fno-rtti +ARCHWARNINGS = -Wall -Wstrict-prototypes -Wshadow -Wundef -fno-strict-aliasing +ARCHWARNINGSXX = -Wall -Wshadow -Wundef +ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10 + +CFLAGS = $(ARCHCFLAGS) $(ARCHWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRAFLAGS) -pipe +CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS) +CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(ARCHDEFINES) $(EXTRAFLAGS) -pipe +CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS) +CPPFLAGS = $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRAFLAGS) +AFLAGS = $(CFLAGS) -D__ASSEMBLY__ + +NXFLATLDFLAGS1 = -r -d -warn-common +NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-pcrel.ld -no-check-sections +LDNXFLATFLAGS = -e main -s 2048 + +# Loadable module definitions + +CMODULEFLAGS = $(CFLAGS) -mlong-calls # --target1-abs + +LDMODULEFLAGS = -r -e module_initialize +ifeq ($(CONFIG_CYGWIN_WINTOOL),y) + LDMODULEFLAGS += -T "${shell cygpath -w $(TOPDIR)/libs/libc/modlib/gnu-elf.ld}" +else + LDMODULEFLAGS += -T $(TOPDIR)/libs/libc/modlib/gnu-elf.ld +endif + +ifneq ($(CROSSDEV),arm-nuttx-elf-) + LDFLAGS += -nostartfiles -nodefaultlibs +ifeq ($(CONFIG_CYGWIN_WINTOOL),y) + LDFLAGS += -Map="${shell cygpath -w $(TOPDIR)/nuttx.map}" +else + LDFLAGS += -Map=$(TOPDIR)/nuttx.map +endif +endif +ifeq ($(CONFIG_DEBUG_SYMBOLS),y) + LDFLAGS += -g +endif diff --git a/boards/arm/imxrt/teensy-4.x/scripts/flash-ocram.ld b/boards/arm/imxrt/teensy-4.x/scripts/flash-ocram.ld new file mode 100644 index 0000000000..c8b25d80bc --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/scripts/flash-ocram.ld @@ -0,0 +1,186 @@ +/**************************************************************************** + * boards/arm/imxrt/teensy-4.x/scripts/flash-ocram.ld + * + * 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. + * + ****************************************************************************/ + +/* Specify the memory areas */ + +/* The imxrt162-evk has 8MiB of QSPI FLASH beginning at address, + * 0x0060:0000, Upto 512Kb of DTCM RAM beginning at 0x2000:0000, and 1MiB OCRAM + * beginning at 0x2020:0000. Neither DTCM or SDRAM are used in this + * configuration. + * + * The default flexram setting on the iMXRT 1062 is + * 256Kib to OCRRAM, 128Kib ITCM and 128Kib DTCM. + * This can be changed by using a dcd by minipulating + * IOMUX GPR16 and GPR17. + * The configuartion we will use is 384Kib to OCRRAM, 0Kib ITCM and + * 128Kib DTCM. + * + * This is the OCRAM inker script. + * The NXP ROM bootloader will move the FLASH image to OCRAM. + * We must reserve 32K for the bootloader' OCRAM usage from the OCRAM Size + * and an additinal 8K for the ivt_s which is IVT_SIZE(8K) This 40K can be + * reused once the application is running. + * + * 0x2020:A000 to 0x202d:ffff - The application Image's vector table + * 0x2020:8000 to 0x2020:A000 - IVT + * 0x2020:0000 to 0x2020:7fff - NXP ROM bootloader. + * + * We artificially split the FLASH to allow locating sections that we do not + * want loaded inoto OCRAM. This is to save on OCRAM where the speen of the + * code does not matter. + * + */ + +MEMORY +{ + flash (rx) : ORIGIN = 0x60000000, LENGTH = 7M + flashxip (rx) : ORIGIN = 0x60700000, LENGTH = 1M + /* Vectors @ boot+ivt OCRAM2 Flex RAM Boot IVT */ + sram (rwx) : ORIGIN = 0x2020A000, LENGTH = 512K + 256K + 128K - (32K + 8K) + itcm (rwx) : ORIGIN = 0x00000000, LENGTH = 0K + dtcm (rwx) : ORIGIN = 0x20000000, LENGTH = 128K +} + +OUTPUT_ARCH(arm) +EXTERN(_vectors) +EXTERN(g_flash_config) +EXTERN(g_image_vector_table) +EXTERN(g_boot_data) +EXTERN(g_dcd_data) + +ENTRY(_stext) + +SECTIONS +{ + /* Image Vector Table and Boot Data for booting from external flash */ + + .boot_hdr : ALIGN(4) + { + FILL(0xff) + __boot_hdr_start__ = ABSOLUTE(.) ; + KEEP(*(.boot_hdr.conf)) + . = 0x1000 ; + KEEP(*(.boot_hdr.ivt)) + . = 0x1020 ; + KEEP(*(.boot_hdr.boot_data)) + . = 0x1030 ; + KEEP(*(.boot_hdr.dcd_data)) + __boot_hdr_end__ = ABSOLUTE(.) ; + . = 0x2000 ; + } > flash + + /* Catch all the section we want not in OCRAM so that the *(.text .text.*) in flash does not */ + + .flashxip : ALIGN(4) + { + FILL(0xff) + + /* Order matters */ + + imxrt_start.o(.text) + imxrt_boot.o(.text) + + *(.slow_memory) + *(.rodata .rodata.*) + KEEP(*(__param*)) + *(.fixup) + *(.gnu.warning) + *(.gnu.linkonce.t.*) + *(.glue_7) + *(.glue_7t) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + + } > flashxip + + .text : + { + _stext = ABSOLUTE(.); + *(.vectors) + *(.text .text.*) + _etext = ABSOLUTE(.); + } > sram AT > flash + + .init_section : + { + _sinit = ABSOLUTE(.); + *(.init_array .init_array.*) + _einit = ABSOLUTE(.); + } > flash + + .ARM.extab : + { + *(.ARM.extab*) + } > flash + + .ARM.exidx : + { + __exidx_start = ABSOLUTE(.); + *(.ARM.exidx*) + __exidx_end = ABSOLUTE(.); + } > flash + + _eronly = ABSOLUTE(.); + + .data : + { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + . = ALIGN(4); + _edata = ABSOLUTE(.); + } > sram AT > flash + + .ramfunc ALIGN(4): + { + _sramfuncs = ABSOLUTE(.); + *(.ramfunc .ramfunc.*) + _eramfuncs = ABSOLUTE(.); + } > sram AT > flash + + _framfuncs = LOADADDR(.ramfunc); + + .bss : + { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _ebss = ABSOLUTE(.); + } > sram + + /* Stabs debugging sections. */ + + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/boards/arm/imxrt/teensy-4.x/scripts/flash.ld b/boards/arm/imxrt/teensy-4.x/scripts/flash.ld new file mode 100644 index 0000000000..572afe84ff --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/scripts/flash.ld @@ -0,0 +1,139 @@ +/**************************************************************************** + * boards/arm/imxrt/teensy-4.x/scripts/flash.ld + * + * 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. + * + ****************************************************************************/ + +/* Specify the memory areas */ + +MEMORY +{ + flash (rx) : ORIGIN = 0x60000000, LENGTH = 1984K + sram (rwx) : ORIGIN = 0x20200000, LENGTH = 512K + itcm (rwx) : ORIGIN = 0x00000000, LENGTH = 512K + dtcm (rwx) : ORIGIN = 0x20000000, LENGTH = 512K +} + +OUTPUT_ARCH(arm) +EXTERN(_vectors) +EXTERN(g_flash_config) +EXTERN(g_image_vector_table) +EXTERN(g_boot_data) + +ENTRY(_stext) + +SECTIONS +{ + /* Image Vector Table and Boot Data for booting from external flash */ + + .boot_hdr : ALIGN(4) + { + FILL(0xff) + __boot_hdr_start__ = ABSOLUTE(.) ; + KEEP(*(.boot_hdr.conf)) + . = 0x1000 ; + KEEP(*(.boot_hdr.ivt)) + . = 0x1020 ; + KEEP(*(.boot_hdr.boot_data)) + . = 0x1030 ; + KEEP(*(.boot_hdr.dcd_data)) + __boot_hdr_end__ = ABSOLUTE(.) ; + . = 0x2000 ; + } >flash + + .text : + { + _stext = ABSOLUTE(.); + *(.vectors) + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.glue_7) + *(.glue_7t) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + } > flash + + .init_section : + { + _sinit = ABSOLUTE(.); + *(.init_array .init_array.*) + _einit = ABSOLUTE(.); + } > flash + + .ARM.extab : + { + *(.ARM.extab*) + } > flash + + .ARM.exidx : + { + __exidx_start = ABSOLUTE(.); + *(.ARM.exidx*) + __exidx_end = ABSOLUTE(.); + } > flash + + _eronly = ABSOLUTE(.); + + .data : + { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + . = ALIGN(4); + _edata = ABSOLUTE(.); + } > sram AT > flash + + .ramfunc ALIGN(4): + { + _sramfuncs = ABSOLUTE(.); + *(.ramfunc .ramfunc.*) + _eramfuncs = ABSOLUTE(.); + } > sram AT > flash + + _framfuncs = LOADADDR(.ramfunc); + + .bss : + { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _ebss = ABSOLUTE(.); + } > sram + + /* Stabs debugging sections. */ + + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/boards/arm/imxrt/teensy-4.x/scripts/kernel-space.ld b/boards/arm/imxrt/teensy-4.x/scripts/kernel-space.ld new file mode 100644 index 0000000000..1f9cffc924 --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/scripts/kernel-space.ld @@ -0,0 +1,104 @@ +/**************************************************************************** + * boards/arm/imxrt/teensy-4.x/scripts/kernel-space.ld + * + * 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. + * + ****************************************************************************/ + +/* NOTE: This depends on the memory.ld script having been included prior to + * this script. + */ + +OUTPUT_ARCH(arm) +EXTERN(_vectors) +ENTRY(_stext) + +SECTIONS +{ + .text : + { + _stext = ABSOLUTE(.); + *(.vectors) + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.glue_7) + *(.glue_7t) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + } > kflash + + .init_section : + { + _sinit = ABSOLUTE(.); + *(.init_array .init_array.*) + _einit = ABSOLUTE(.); + } > kflash + + .ARM.extab : + { + *(.ARM.extab*) + } > kflash + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : + { + *(.ARM.exidx*) + } > kflash + + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + .data : + { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + . = ALIGN(4); + _edata = ABSOLUTE(.); + } > kocram AT > kflash + + .bss : + { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _ebss = ABSOLUTE(.); + } > kocram + + /* Stabs debugging sections */ + + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/boards/arm/imxrt/teensy-4.x/scripts/memory.ld b/boards/arm/imxrt/teensy-4.x/scripts/memory.ld new file mode 100644 index 0000000000..9f6606cadb --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/scripts/memory.ld @@ -0,0 +1,67 @@ +/**************************************************************************** + * boards/arm/imxrt/teensy-4.x/scripts/memory.ld + * + * 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. + * + ****************************************************************************/ + +/* The i.MXRT1060-EVK has 8MiB of Hyper FLASH beginning at address, + * 0x0060:0000, Up to 512Kb of DTCM RAM beginning at 0x2000:0000, and 1MiB OCRAM + * beginning at 0x2020:0000. Neither DTCM or SDRAM are used in this + * configuration. + * + * The user and kernel space partitions will be spanned with a single + * region of size 2**n bytes. As a consequence, as the partitions increase + * in size, the alignment requirement also increases. The sizes below give + * the largest possible user address spaces (but leave far too much for the + * OS). + * + * The solution to this wasted memory is to (1) use more than one region to + * span the user spaces, or (2) poke holes in a larger region (via sub- + * regions) to trim it to fit better. + * + * A detailed memory map for the 512KB SRAM region is as follows: + * + * 0x2020 0000: Kernel .data region. Typical size: 0.1KB + * ------ ---- Kernel .bss region. Typical size: 1.8KB + * 0x2020 0800: Kernel IDLE thread stack (approximate). Size is + * determined by CONFIG_IDLETHREAD_STACKSIZE and + * adjustments for alignment. Typical is 1KB. + * ------ ---- Padded to 4KB + * 0x2040 0000: User .data region. Size is variable. + * ------- ---- User .bss region Size is variable. + * 0x2042 0000: Beginning of kernel heap. Size determined by + * CONFIG_MM_KERNEL_HEAPSIZE. + * ------ ---- Beginning of user heap. Can vary with other settings. + * 0x2080 0000: End+1 of mappable OCRAM + */ + +/* Specify the memory areas */ + +MEMORY +{ + /* 8MiB of HyperFLASH */ + + kflash (rx) : ORIGIN = 0x60000000, LENGTH = 1M + uflash (rx) : ORIGIN = 0x60200000, LENGTH = 1M + flash (rx) : ORIGIN = 0x60400000, LENGTH = 6M + + /* 1MiB of OCRAM */ + + dtcm (rwx) : ORIGIN = 0x20000000, LENGTH = 512K + kocram (rwx) : ORIGIN = 0x20200000, LENGTH = 512K + uocram (rwx) : ORIGIN = 0x20240000, LENGTH = 512K +} diff --git a/boards/arm/imxrt/teensy-4.x/scripts/user-space.ld b/boards/arm/imxrt/teensy-4.x/scripts/user-space.ld new file mode 100644 index 0000000000..65695c02a0 --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/scripts/user-space.ld @@ -0,0 +1,120 @@ +/**************************************************************************** + * boards/arm/imxrt/teensy-4.x/scripts/user-space.ld + * + * 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. + * + ****************************************************************************/ + +/* NOTE: This depends on the memory.ld script having been included prior to + * this script. + */ + +/* Make sure that the critical memory management functions are in user-space. + * the user heap memory manager will reside in user-space but be usable both + * by kernel- and user-space code + */ + +EXTERN(umm_initialize) +EXTERN(umm_addregion) +EXTERN(umm_trysemaphore) +EXTERN(umm_givesemaphore) + +EXTERN(malloc) +EXTERN(realloc) +EXTERN(zalloc) +EXTERN(free) + +OUTPUT_ARCH(arm) +SECTIONS +{ + .userspace : + { + *(.userspace) + } > uflash + + .text : + { + _stext = ABSOLUTE(.); + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.glue_7) + *(.glue_7t) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + } > uflash + + .init_section : + { + _sinit = ABSOLUTE(.); + *(.init_array .init_array.*) + _einit = ABSOLUTE(.); + } > uflash + + .ARM.extab : + { + *(.ARM.extab*) + } > uflash + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : + { + *(.ARM.exidx*) + } > uflash + + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + .data : + { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + . = ALIGN(4); + _edata = ABSOLUTE(.); + } > uocram AT > uflash + + .bss : + { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + . = ALIGN(4); + _ebss = ABSOLUTE(.); + } > uocram + + /* Stabs debugging sections */ + + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/boards/arm/imxrt/teensy-4.x/src/Makefile b/boards/arm/imxrt/teensy-4.x/src/Makefile new file mode 100644 index 0000000000..5de101bd87 --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/src/Makefile @@ -0,0 +1,57 @@ +############################################################################ +# boards/arm/imxrt/teensy-4.x/sec/Makefile +# +# 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. +# +############################################################################ + +include $(TOPDIR)/Make.defs + +CSRCS = imxrt_boot.c imxrt_flexspi_nor_boot.c imxrt_flexspi_nor_flash.c + +ifeq ($(CONFIG_LIB_BOARDCTL),y) +CSRCS += imxrt_appinit.c imxrt_bringup.c +else ifeq ($(CONFIG_BOARD_LATE_INITIALIZE),y) +CSRCS += imxrt_bringup.c +endif + +ifeq ($(CONFIG_ARCH_LEDS),y) +CSRCS += imxrt_autoleds.c +else +CSRCS += imxrt_userleds.c +endif + +ifeq ($(CONFIG_IMXRT_LPSPI),y) +CSRCS += imxrt_spi.c +endif + +ifeq ($(CONFIG_IMXRT_LPI2C),y) +CSRCS += imxrt_i2c.c +endif + +ifeq ($(CONFIG_IMXRT_FLEXCAN),y) +CSRCS += imxrt_flexcan.c +endif + +ifeq ($(CONFIG_IMXRT_ENET),y) +CSRCS += imxrt_ethernet.c +endif + +ifeq ($(CONFIG_IMXRT_ADC),y) +CSRCS += imxrt_adc.c +endif + +include $(TOPDIR)/boards/Board.mk diff --git a/boards/arm/imxrt/teensy-4.x/src/imxrt_adc.c b/boards/arm/imxrt/teensy-4.x/src/imxrt_adc.c new file mode 100644 index 0000000000..5db073212d --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/src/imxrt_adc.c @@ -0,0 +1,112 @@ +/**************************************************************************** + * boards/arm/imxrt/teensy-4.x/src/imxrt_adc.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 + +#include +#include + +#include +#include +#include + +#include "chip.h" +#include "arm_arch.h" + +#include "imxrt_adc.h" +#include "teensy-4.h" + +#ifdef CONFIG_IMXRT_ADC + +/* channels 1 and 2 have the same number of pins on Teensy */ + +#define ADC_NCHANNELS 16 + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static const uint8_t g_chanlist[ADC_NCHANNELS] = + { + 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15 + }; + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: imxrt_adc_setup + * + * Description: + * Initialize and register the ADC driver. + * + ****************************************************************************/ + +int imxrt_adc_initialize(void) +{ + struct adc_dev_s *adc; + int ret; + + /* Call imxrt_adcinitialize() to get an instance of the ADC interface */ + #ifdef CONFIG_IMXRT_ADC1 + adc = imxrt_adcinitialize(1, g_chanlist, ADC_NCHANNELS); + if (adc == NULL) + { + aerr("ERROR: Failed to get ADC1 interface\n"); + return -ENODEV; + } + + /* Register the ADC driver at "/dev/adc1" */ + + ret = adc_register("/dev/adc1", adc); + if (ret < 0) + { + aerr("ERROR: adc_register adc1 failed: %d\n", ret); + return ret; + } + + #endif + #ifdef CONFIG_IMXRT_ADC2 + adc = imxrt_adcinitialize(2, g_chanlist, ADC_NCHANNELS); + if (adc == NULL) + { + aerr("ERROR: Failed to get ADC2 interface\n"); + return -ENODEV; + } + + /* Register the ADC driver at "/dev/adc2" */ + + ret = adc_register("/dev/adc2", adc); + if (ret < 0) + { + aerr("ERROR: adc_register adc2 failed: %d\n", ret); + return ret; + } + #endif + + return OK; +} + +#endif /* CONFIG_IMXRT_ADC */ diff --git a/boards/arm/imxrt/teensy-4.x/src/imxrt_appinit.c b/boards/arm/imxrt/teensy-4.x/src/imxrt_appinit.c new file mode 100644 index 0000000000..09cb334a47 --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/src/imxrt_appinit.c @@ -0,0 +1,99 @@ +/**************************************************************************** + * boards/arm/imxrt/teensy-4.x/src/imxrt_appinit.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 + +#include +#include + +#include + +#include "teensy-4.h" + +#if !defined(CONFIG_ARCH_LEDS) && defined(CONFIG_USERLED_LOWER) +# define HAVE_LEDS 0 +#endif + +#ifdef CONFIG_LIB_BOARDCTL + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: board_app_initialize + * + * Description: + * Perform application specific initialization. This function is never + * called directly from application code, but only indirectly via the + * (non-standard) boardctl() interface using the command BOARDIOC_INIT. + * + * Input Parameters: + * arg - The boardctl() argument is passed to the board_app_initialize() + * implementation without modification. The argument has no + * meaning to NuttX; the meaning of the argument is a contract + * between the board-specific initialization logic and the + * matching application logic. The value could be such things as a + * mode enumeration value, a set of DIP switch switch settings, a + * pointer to configuration data read from a file or serial FLASH, + * or whatever you would like to do with it. Every implementation + * should accept zero/NULL as a default configuration. + * + * Returned Value: + * Zero (OK) is returned on success; a negated errno value is returned on + * any failure to indicate the nature of the failure. + * + ****************************************************************************/ + +int board_app_initialize(uintptr_t arg) +{ + int ret; + #ifdef HAVE_LEDS + /* Register the LED driver */ + + ret = userled_lower_initialize(LED_DRIVER_PATH); + if (ret < 0) + { + syslog(LOG_ERR, "ERROR: userled_lower_initialize() failed: %d\n", ret); + return ret; + } +#endif + +#if defined(CONFIG_IMXRT_LPSPI1) || defined(CONFIG_IMXRT_LPSPI2) || \ + defined(CONFIG_IMXRT_LPSPI3) || defined(CONFIG_IMXRT_LPSPI4) + imxrt_spidev_initialize(); +#endif + +# ifndef CONFIG_BOARD_LATE_INITIALIZE + /* Perform board initialization */ + + return imxrt_bringup(); +# else + return OK; +# endif + + UNUSED(ret); +} + +#endif /* CONFIG_LIB_BOARDCTL */ diff --git a/boards/arm/imxrt/teensy-4.x/src/imxrt_autoleds.c b/boards/arm/imxrt/teensy-4.x/src/imxrt_autoleds.c new file mode 100644 index 0000000000..def75981ba --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/src/imxrt_autoleds.c @@ -0,0 +1,165 @@ +/**************************************************************************** + * boards/arm/imxrt/teensy-4.x/src/imxrt_autoleds.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. + * + ****************************************************************************/ + +/* There are four LED status indicators located on the EVK Board. The + * functions of these LEDs include: + * + * - Main Power Supply(D3)?? + * Green: DC 5V main supply is normal. + * Red: J2 input voltage is over 5.6V. + * Off: The board is not powered. + * - Reset RED LED(D21)?? + * - OpenSDA LED(D20)?? + * - USER LED(D8) + * + * Only a single LED, D8, is under software control. + * + * This LED is not used by the board port unless CONFIG_ARCH_LEDS is + * defined. In that case, the usage by the board port is defined in + * include/board.h and src/imxrt_autoleds.c. The LED is used to encode + * OS-related events as follows: + * + * -------------------- ----------------------- ------ + * SYMBOL Meaning LED + * -------------------- ----------------------- ------ + * + * LED_STARTED 0 NuttX has been started OFF + * LED_HEAPALLOCATE 0 Heap has been allocated OFF + * LED_IRQSENABLED 0 Interrupts enabled OFF + * LED_STACKCREATED 1 Idle stack created ON + * LED_INIRQ 2 In an interrupt N/C + * LED_SIGNAL 2 In a signal handler N/C + * LED_ASSERTION 2 An assertion failed N/C + * LED_PANIC 3 The system has crashed FLASH + * LED_IDLE Not used + * + * Thus if the LED is statically on, NuttX has successfully booted and is, + * apparently, running normally. If the LED is flashing at approximately + * 2Hz, then a fatal error has been detected and the system has halted. + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include + +#include "imxrt_gpio.h" +#include "imxrt_iomuxc.h" +#include +#include "teensy-4.h" + +#ifdef CONFIG_ARCH_LEDS + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: imxrt_autoled_initialize + * + * Description: + * Initialize NuttX-controlled LED logic + * + * Input Parameters: + * None + * + * Returned Value: + * None + * + ****************************************************************************/ + +void imxrt_autoled_initialize(void) +{ + /* Configure LED GPIO for output */ + + imxrt_config_gpio(GPIO_LED); +} + +/**************************************************************************** + * Name: board_autoled_on + * + * Description: + * Turn on the "logical" LED state + * + * Input Parameters: + * led - Identifies the "logical" LED state (see definitions in + * include/board.h) + * + * Returned Value: + * None + * + ****************************************************************************/ + +void board_autoled_on(int led) +{ + bool ledon = true; + + switch (led) + { + case 0: /* LED Off */ + ledon = false; + break; + + case 2: /* LED No change */ + return; + + case 1: /* LED On */ + case 3: /* LED On */ + break; + } + + imxrt_gpio_write(GPIO_LED, ledon); /* Low illuminates */ +} + +/**************************************************************************** + * Name: board_autoled_off + * + * Description: + * Turn off the "logical" LED state + * + * Input Parameters: + * led - Identifies the "logical" LED state (see definitions in + * include/board.h) + * + * Returned Value: + * None + * + ****************************************************************************/ + +void board_autoled_off(int led) +{ + switch (led) + { + case 0: /* LED Off */ + case 1: /* LED Off */ + case 3: /* LED Off */ + break; + + case 2: /* LED No change */ + return; + } + + imxrt_gpio_write(GPIO_LED, false); /* Low illuminates */ +} + +#endif /* CONFIG_ARCH_LEDS */ diff --git a/boards/arm/imxrt/teensy-4.x/src/imxrt_boot.c b/boards/arm/imxrt/teensy-4.x/src/imxrt_boot.c new file mode 100644 index 0000000000..4572f6584c --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/src/imxrt_boot.c @@ -0,0 +1,118 @@ +/**************************************************************************** + * boards/arm/imxrt/teensy-4.x/src/imxrt_boot.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 + +#include +#include + +#include "imxrt_start.h" +#include "teensy-4.h" +#include "arm_arch.h" +#include "imxrt_flexspi_nor_boot.h" + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: imxrt_ocram_initialize + * + * Description: + * Called off reset vector to reconfigure the flexRAM + * and finish the FLASH to RAM Copy. + * + ****************************************************************************/ + +void imxrt_ocram_initialize(void) +{ + const uint32_t *src; + uint32_t *dest; + uint32_t regval; + + /* Reallocate 128K of Flex RAM from ITCM to OCRAM + * Final Configuration is + * 128 DTCM + * + * 128 FlexRAM OCRAM (202C:0000-202D:ffff) + * 256 FlexRAM OCRAM (2028:0000-202B:ffff) + * 512 System OCRAM2 (2020:0000-2027:ffff) + * */ + + putreg32(0xaa555555, IMXRT_IOMUXC_GPR_GPR17); + regval = getreg32(IMXRT_IOMUXC_GPR_GPR16); + putreg32(regval | GPR_GPR16_FLEXRAM_BANK_CFG_SELF, IMXRT_IOMUXC_GPR_GPR16); + + for (src = (uint32_t *) (LOCATE_IN_SRC(g_boot_data.start) + + g_boot_data.size), + dest = (uint32_t *) (g_boot_data.start + g_boot_data.size); + dest < (uint32_t *) & _etext; + ) + { + *dest++ = *src++; + } +} + +/**************************************************************************** + * Name: imxrt_boardinitialize + * + * Description: + * All i.MX RT architectures must provide the following entry point. This + * entry point is called early in the initialization -- after clocking and + * memory have been configured but before caches have been enabled and + * before any devices have been initialized. + * + ****************************************************************************/ + +void imxrt_boardinitialize(void) +{ + /* Configure on-board LEDs if LED support has been selected. */ + +#ifdef CONFIG_ARCH_LEDS + imxrt_autoled_initialize(); +#endif +} + +/**************************************************************************** + * Name: board_late_initialize + * + * Description: + * If CONFIG_BOARD_LATE_INITIALIZE is selected, then an additional + * initialization call will be performed in the boot-up sequence to a + * function called board_late_initialize(). board_late_initialize() will + * be called immediately after up_intitialize() is called and just before + * the initial application is started. This additional initialization + * phase may be used, for example, to initialize board-specific device + * drivers. + * + ****************************************************************************/ + +#ifdef CONFIG_BOARD_LATE_INITIALIZE +void board_late_initialize(void) +{ + /* Perform board initialization */ + + imxrt_bringup(); +} +#endif /* CONFIG_BOARD_LATE_INITIALIZE */ diff --git a/boards/arm/imxrt/teensy-4.x/src/imxrt_bringup.c b/boards/arm/imxrt/teensy-4.x/src/imxrt_bringup.c new file mode 100644 index 0000000000..6cbaa05053 --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/src/imxrt_bringup.c @@ -0,0 +1,182 @@ +/**************************************************************************** + * boards/arm/imxrt/teensy-4.x/src/imxrt_bringup.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 + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#ifdef CONFIG_IMXRT_USDHC +# include "imxrt_usdhc.h" +#endif + +#ifdef CONFIG_USBMONITOR +# include +#endif + +#ifdef CONFIG_VIDEO_FB +# include +#endif + +#include "imxrt_enet.h" +#include "teensy-4.h" + +#include /* Must always be included last */ + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* Checking needed by MMC/SDCard */ + +#ifdef CONFIG_NSH_MMCSDMINOR +# define MMCSD_MINOR CONFIG_NSH_MMCSDMINOR +#else +# define MMCSD_MINOR 0 +#endif + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +#if defined (CONFIG_IMXRT_USDHC) && (CONFIG_TEENSY_41) +static int nsh_sdmmc_initialize(void) +{ + struct sdio_dev_s *sdmmc; + int ret = 0; + + /* Get an instance of the SDIO interface */ + + sdmmc = imxrt_usdhc_initialize(0); + if (!sdmmc) + { + syslog(LOG_ERR, "ERROR: Failed to initialize SD/MMC\n"); + } + else + { + /* Bind the SDIO interface to the MMC/SD driver */ + + ret = mmcsd_slotinitialize(0, sdmmc); + if (ret != OK) + { + syslog(LOG_ERR, + "ERROR: Failed to bind SDIO to the MMC/SD driver: %d\n", + ret); + } + + imxrt_usdhc_set_sdio_card_isr(sdmmc, NULL, NULL); + } + + return OK; +} +#else +# define nsh_sdmmc_initialize() (OK) +#endif + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: imxrt_bringup + * + * Description: + * Bring up board features + * + ****************************************************************************/ + +int imxrt_bringup(void) +{ + int ret; + + /* If we got here then perhaps not all initialization was successful, + * but at least enough succeeded to bring-up NSH with perhaps reduced + * capabilities. + */ + +#ifdef CONFIG_FS_PROCFS + /* Mount the procfs file system */ + + ret = mount(NULL, "/proc", "procfs", 0, NULL); + if (ret < 0) + { + syslog(LOG_ERR, "ERROR: Failed to mount procfs at /proc: %d\n", ret); + } +#endif + +#if defined(CONFIG_I2C_DRIVER) + imxrt_i2c_setup(); +#endif + +#ifdef CONFIG_IMXRT_USDHC + /* Initialize SDHC-base MMC/SD card support */ + + nsh_sdmmc_initialize(); +#endif + +#if defined(CONFIG_IMXRT_ENET) && defined(CONFIG_NETDEV_LATEINIT) + ret = imxrt_netinitialize(0); +#endif + +#if defined(CONFIG_IMXRT_FLEXCAN) && defined(CONFIG_NETDEV_LATEINIT) + ret = imxrt_can_setup(); + if (ret < 0) + { + syslog(LOG_ERR, "ERROR: imxrt_can_setup() failed: %d\n", ret); + return ret; + } +#endif + +#ifdef CONFIG_VIDEO_FB + /* Initialize and register the framebuffer driver */ + + ret = fb_register(0, 0); + if (ret < 0) + { + syslog(LOG_ERR, "ERROR: fb_register() failed: %d\n", ret); + } +#endif + +#ifdef CONFIG_IMXRT_ADC + /* Initialize ADC and register the ADC driver. */ + + ret = imxrt_adc_initialize(); + if (ret < 0) + { + syslog(LOG_ERR, "ERROR: imxrt_adc_initialize() failed: %d\n", ret); + } +#endif + + UNUSED(ret); + return OK; +} diff --git a/boards/arm/imxrt/teensy-4.x/src/imxrt_ethernet.c b/boards/arm/imxrt/teensy-4.x/src/imxrt_ethernet.c new file mode 100644 index 0000000000..74d78f61c4 --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/src/imxrt_ethernet.c @@ -0,0 +1,275 @@ +/**************************************************************************** + * boards/arm/imxrt/teensy-4.x/src/imxrt_ethernet.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 + +/* Force verbose debug on in this file only to support unit-level testing. */ + +#ifdef CONFIG_NETDEV_PHY_DEBUG +# undef CONFIG_DEBUG_INFO +# define CONFIG_DEBUG_INFO 1 +# undef CONFIG_DEBUG_NET +# define CONFIG_DEBUG_NET 1 +#endif + +#include +#include +#include +#include + +#include +#include + +#include "imxrt_gpio.h" +#include "imxrt_enet.h" + +#include "teensy-4.h" + +#if defined (CONFIG_IMXRT_ENET) && (CONFIG_TEENSY_41) + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define IMXRT_ENET_DEVNAME "eth0" + +/* Debug ********************************************************************/ + +/* Extra, in-depth debug output that is only available if + * CONFIG_NETDEV_PHY_DEBUG us defined. + */ + +#ifdef CONFIG_NETDEV_PHY_DEBUG +# define phyerr _err +# define phywarn _warn +# define phyinfo _info +#else +# define phyerr(x...) +# define phywarn(x...) +# define phyinfo(x...) +#endif + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: imxrt_enet_phy_enable + ****************************************************************************/ + +#ifdef CONFIG_IMXRT_GPIO1_0_15_IRQ +static void imxrt_enet_phy_enable(bool enable) +{ + phyinfo("IRQ%d: enable=%d\n", GPIO_ENET_INT, enable); + + if (enable) + { + up_enable_irq(GPIO_ENET_IRQ); + } + else + { + up_disable_irq(GPIO_ENET_IRQ); + } +} +#endif + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Function: imxrt_phy_boardinitialize + * + * Description: + * Some boards require specialized initialization of the PHY before it can + * be used. This may include such things as configuring GPIOs, resetting + * the PHY, etc. + * If CONFIG_IMXRT_ENET_PHYINIT is defined in the configuration then the + * board specific logic must provide imxrt_phyinitialize(); + * The i.MX RT Ethernet driver will call this function one time before it + * first uses the PHY. + * + * Input Parameters: + * intf - Always zero for now. + * + * Returned Value: + * OK on success; Negated errno on failure. + * + ****************************************************************************/ + +int imxrt_phy_boardinitialize(int intf) +{ +#ifdef CONFIG_IMXRT_GPIO1_0_15_IRQ + /* Configure the PHY interrupt pin */ + + phyinfo("Configuring interrupt: %08x\n", GPIO_ENET_INT); + imxrt_config_gpio(GPIO_ENET_INT); +#endif + + /* Configure the PHY reset pin. + * + * The #RST uses inverted logic. The initial value of zero will put the + * PHY into the reset state. + */ + + phyinfo("Configuring reset: %08x\n", GPIO_ENET_RST); + imxrt_config_gpio(GPIO_ENET_RST); + + /* Take the PHY out of reset. */ + + imxrt_gpio_write(GPIO_ENET_RST, true); + return OK; +} + +/**************************************************************************** + * Name: arch_phy_irq + * + * Description: + * This function may be called to register an interrupt handler that will + * be called when a PHY interrupt occurs. This function both attaches + * the interrupt handler and enables the interrupt if 'handler' is non- + * NULL. If handler is NULL, then the interrupt is detached and disabled + * instead. + * + * The PHY interrupt is always disabled upon return. The caller must + * call back through the enable function point to control the state of + * the interrupt. + * + * This interrupt may or may not be available on a given platform depending + * on how the network hardware architecture is implemented. In a typical + * case, the PHY interrupt is provided to board-level logic as a GPIO + * interrupt (in which case this is a board-specific interface and really + * should be called board_phy_irq()); In other cases, the PHY interrupt + * may be cause by the chip's MAC logic (in which case arch_phy_irq()) is + * an appropriate name. Other other boards, there may be no PHY interrupts + * available at all. If client attachable PHY interrupts are available + * from the board or from the chip, then CONFIG_ARCH_PHY_INTERRUPT should + * be defined to indicate that fact. + * + * Typical usage: + * a. OS service logic (not application logic*) attaches to the PHY + * PHY interrupt and enables the PHY interrupt. + * b. When the PHY interrupt occurs: (1) the interrupt should be + * disabled and () work should be scheduled on the worker thread (or + * perhaps a dedicated application thread). + * c. That worker thread should use the SIOCGMIIPHY, SIOCGMIIREG, + * and SIOCSMIIREG ioctl calls** to communicate with the PHY, + * determine what network event took place (Link Up/Down?), and + * take the appropriate actions. + * d. It should then interact the PHY to clear any pending + * interrupts, then re-enable the PHY interrupt. + * + * * This is an OS internal interface and should not be used from + * application space. Rather applications should use the SIOCMIISIG + * ioctl to receive a signal when a PHY event occurs. + * ** This interrupt is really of no use if the Ethernet MAC driver + * does not support these ioctl calls. + * + * Input Parameters: + * intf - Identifies the network interface. For example "eth0". Only + * useful on platforms that support multiple Ethernet interfaces + * and, hence, multiple PHYs and PHY interrupts. + * handler - The client interrupt handler to be invoked when the PHY + * asserts an interrupt. Must reside in OS space, but can + * signal tasks in user space. A value of NULL can be passed + * in order to detach and disable the PHY interrupt. + * arg - The argument that will accompany the interrupt + * enable - A function pointer that be unused to enable or disable the + * PHY interrupt. + * + * Returned Value: + * Zero (OK) returned on success; a negated errno value is returned on + * failure. + * + ****************************************************************************/ + +#ifdef CONFIG_IMXRT_GPIO1_0_15_IRQ +int arch_phy_irq(FAR const char *intf, xcpt_t handler, void *arg, + phy_enable_t *enable) +{ + irqstate_t flags; + phy_enable_t enabler; + int irq; + + DEBUGASSERT(intf); + + ninfo("%s: handler=%p\n", intf, handler); + phyinfo("EMAC: devname=%s\n", IMXRT_ENET_DEVNAME); + + if (strcmp(intf, IMXRT_ENET_DEVNAME) == 0) + { + irq = GPIO_ENET_IRQ; + enabler = imxrt_enet_phy_enable; + } + else + { + nerr("ERROR: Unsupported interface: %s\n", intf); + return -EINVAL; + } + + /* Disable interrupts until we are done. This guarantees that the + * following operations are atomic. + */ + + flags = spin_lock_irqsave(); + + /* Configure the interrupt */ + + if (handler) + { + /* The interrupt pin has already been configured as an interrupting + * input (by imxrt_phy_boardinitialize() above). + * + * Attach the new button handler. + */ + + phyinfo("Attach IRQ%d\n", irq); + irq_attach(irq, handler, arg); + } + else + { + phyinfo("Detach IRQ%d\n", irq); + irq_detach(irq); + enabler = NULL; + } + + /* Return with the interrupt disabled in either case */ + + up_disable_irq(GPIO_ENET_IRQ); + + /* Return the enabling function pointer */ + + if (enable) + { + *enable = enabler; + } + + /* Return the old handler (so that it can be restored) */ + + spin_unlock_irqrestore(flags); + return OK; +} +#endif /* CONFIG_IMXRT_GPIO1_0_15_IRQ */ + +#endif /* CONFIG_IMXRT_ENET && CONFIG_TEENSY_41 */ diff --git a/boards/arm/imxrt/teensy-4.x/src/imxrt_flexcan.c b/boards/arm/imxrt/teensy-4.x/src/imxrt_flexcan.c new file mode 100644 index 0000000000..d12d133030 --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/src/imxrt_flexcan.c @@ -0,0 +1,83 @@ +/**************************************************************************** + * boards/arm/imxrt/teensy-4.x/src/imxrt_flexcan.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 + +#include +#include +#include + +#include + +#include "imxrt_flexcan.h" +#include "teensy-4.h" + +#if defined(CONFIG_IMXRT_FLEXCAN) && defined(CONFIG_NETDEV_LATEINIT) + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: imxrt_can_setup + * + * Description: + * Initialize CAN and register the CAN device + * + ****************************************************************************/ + +int imxrt_can_setup(void) +{ + int ret; +#ifdef CONFIG_IMXRT_FLEXCAN3 + /* Call arm_caninitialize() to get an instance of the CAN interface */ + + ret = imxrt_caninitialize(3); + if (ret < 0) + { + canerr("ERROR: Failed to get CAN interface\n"); + return -ENODEV; + } +#elif CONFIG_IMXRT_FLEXCAN2 + ret = imxrt_caninitialize(2); + if (ret < 0) + { + canerr("ERROR: Failed to get CAN interface\n"); + return -ENODEV; + } +#elif CONFIG_IMXRT_FLEXCAN1 + ret = imxrt_caninitialize(1); + if (ret < 0) + { + canerr("ERROR: Failed to get CAN interface\n"); + return -ENODEV; + } +#else + return -ENODEV; +#endif + UNUSED(ret); + return OK; +} + +#endif /* CONFIG_IMXRT_FLEXCAN */ diff --git a/boards/arm/imxrt/teensy-4.x/src/imxrt_flexspi_nor_boot.c b/boards/arm/imxrt/teensy-4.x/src/imxrt_flexspi_nor_boot.c new file mode 100644 index 0000000000..dff0685d7b --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/src/imxrt_flexspi_nor_boot.c @@ -0,0 +1,58 @@ +/**************************************************************************** + * boards/arm/imxrt/teensy-4.x/src/imxrt_flexspi_nor_boot.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 "imxrt_flexspi_nor_boot.h" + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +__attribute__((section(".boot_hdr.ivt"))) + const struct ivt_s g_image_vector_table = + { + IVT_HEADER, /* IVT Header */ + IMAGE_ENTRY_ADDRESS, /* Image Entry Function */ + IVT_RSVD, /* Reserved = 0 */ + (uint32_t) DCD_ADDRESS, /* Address where DCD information is + * stored */ + (uint32_t) BOOT_DATA_ADDRESS, /* Address where BOOT Data Structure + * is stored */ + (uint32_t) IMAG_VECTOR_TABLE, /* Pointer to IVT Self (absolute + * address */ + (uint32_t) CSF_ADDRESS, /* Address where CSF file is stored */ + IVT_RSVD /* Reserved = 0 */ + }; + +__attribute__((section(".boot_hdr.boot_data"))) + const struct boot_data_s g_boot_data = + { + IMAGE_DEST, /* boot start location */ + (IMAGE_DEST_END - IMAGE_DEST), /* size */ + PLUGIN_FLAG, /* Plugin flag */ + 0xffffffff /* empty - extra data word */ + }; + +/**************************************************************************** + * Public Functions + ****************************************************************************/ \ No newline at end of file diff --git a/boards/arm/imxrt/teensy-4.x/src/imxrt_flexspi_nor_boot.h b/boards/arm/imxrt/teensy-4.x/src/imxrt_flexspi_nor_boot.h new file mode 100644 index 0000000000..78fe4e3f86 --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/src/imxrt_flexspi_nor_boot.h @@ -0,0 +1,157 @@ +/**************************************************************************** + * boards/arm/imxrt/teensy-4.x/src/imxrt_flexspi_nor_boot.h + * + * 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. + * + ****************************************************************************/ + +#ifndef __BOARDS_ARM_IMXRT_TEENSY_4X_SRC_IMXRT_FLEXSPI_NOR_BOOT_H +# define __BOARDS_ARM_IMXRT_TEENSY_4X_SRC_IMXRT_FLEXSPI_NOR_BOOT_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +# include + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* IVT Data */ + +# define IVT_MAJOR_VERSION 0x4 +# define IVT_MAJOR_VERSION_SHIFT 0x4 +# define IVT_MAJOR_VERSION_MASK 0xf +# define IVT_MINOR_VERSION 0x1 +# define IVT_MINOR_VERSION_SHIFT 0x0 +# define IVT_MINOR_VERSION_MASK 0xf + +# define IVT_VERSION(major, minor) \ + ((((major) & IVT_MAJOR_VERSION_MASK) << IVT_MAJOR_VERSION_SHIFT) | \ + (((minor) & IVT_MINOR_VERSION_MASK) << IVT_MINOR_VERSION_SHIFT)) + +# define IVT_TAG_HEADER (0xd1) /* Image Vector Table */ +# define IVT_SIZE 0x2000 +# define IVT_PAR IVT_VERSION(IVT_MAJOR_VERSION, IVT_MINOR_VERSION) + +# define IVT_HEADER (IVT_TAG_HEADER | (IVT_SIZE << 8) | (IVT_PAR << 24)) +# define IVT_RSVD (uint32_t)(0x00000000) + +/* DCD Data */ + +# define DCD_TAG_HEADER (0xd2) +# define DCD_TAG_HEADER_SHIFT (24) +# define DCD_VERSION (0x41) +# define DCD_ARRAY_SIZE 1 + +# define FLASH_BASE 0x60000000 +# define FLASH_END 0x7f7fffff + +/* This needs to take into account the memory configuration at + * boot bootloader + */ + +# define ROM_BOOTLOADER_OCRAM_RES 0x8000 +# define OCRAM_BASE (0x20200000 + ROM_BOOTLOADER_OCRAM_RES) +# define OCRAM_END (OCRAM_BASE + (512 * 1024) + (256 * 1024) \ + - ROM_BOOTLOADER_OCRAM_RES) + +# define SCLK 1 +# if defined(CONFIG_BOOT_RUNFROMFLASH) +# define IMAGE_DEST FLASH_BASE +# define IMAGE_DEST_END FLASH_END +# define IMAGE_DEST_OFFSET 0 +# else +# define IMAGE_DEST OCRAM_BASE +# define IMAGE_DEST_END OCRAM_END +# define IMAGE_DEST_OFFSET IVT_SIZE +# endif + +# define LOCATE_IN_DEST(x) (((uint32_t)(x)) - FLASH_BASE + IMAGE_DEST) +# define LOCATE_IN_SRC(x) (((uint32_t)(x)) - IMAGE_DEST + FLASH_BASE) + +# define DCD_ADDRESS 0 +# define BOOT_DATA_ADDRESS LOCATE_IN_DEST(&g_boot_data) +# define CSF_ADDRESS 0 +# define PLUGIN_FLAG (uint32_t)0 + +/* Located in Destination Memory */ + +# define IMAGE_ENTRY_ADDRESS ((uint32_t)&_vectors) +# define IMAG_VECTOR_TABLE LOCATE_IN_DEST(&g_image_vector_table) + +/**************************************************************************** + * Public Types + ****************************************************************************/ + +/* IVT Data */ + +struct ivt_s + { + /* Header with tag #HAB_TAG_IVT, length and HAB version fields */ + + uint32_t hdr; + + /* Absolute address of the first instr. to execute from the image */ + + uint32_t entry; + + /* Reserved in this version of HAB: should be NULL. */ + + uint32_t reserved1; + + /* Absolute address of the image DCD: may be NULL. */ + + uint32_t dcd; + + /* Absolute address of the Boot Data: may be NULL */ + + uint32_t boot_data; + + /* Absolute address of the IVT. */ + + uint32_t self; + + /* Absolute address of the image CSF. */ + + uint32_t csf; + + /* Reserved in this version of HAB: should be zero. */ + + uint32_t reserved2; + }; + +/* Boot Data */ + +struct boot_data_s + { + uint32_t start; /* boot start location */ + uint32_t size; /* size */ + uint32_t plugin; /* plugin flag - 1 if downloaded application is + * plugin */ + uint32_t placeholder; /* placeholder to make even 0x10 size */ + }; + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +extern const struct boot_data_s g_boot_data; +extern const uint8_t g_dcd_data[]; +extern const uint32_t _vectors[]; + +#endif /* __BOARDS_ARM_IMXRT_TEENSY_4_SRC_IMXRT_FLEXSPI_NOR_BOOT_H */ diff --git a/boards/arm/imxrt/teensy-4.x/src/imxrt_flexspi_nor_flash.c b/boards/arm/imxrt/teensy-4.x/src/imxrt_flexspi_nor_flash.c new file mode 100644 index 0000000000..c15367649f --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/src/imxrt_flexspi_nor_flash.c @@ -0,0 +1,137 @@ +/**************************************************************************** + * boards/arm/imxrt/teensy-4.x/src/imxrt_flexspi_nor_flash.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 "imxrt_flexspi_nor_flash.h" + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +#if defined (CONFIG_TEENSY4_QSPI_FLASH) +__attribute__((section(".boot_hdr.conf"))) +const struct flexspi_nor_config_s g_flash_config = +{ + .mem_config = + { + .tag = FLEXSPI_CFG_BLK_TAG, + .version = FLEXSPI_CFG_BLK_VERSION, + .read_sample_clksrc = FLASH_READ_SAMPLE_CLK_LOOPBACK_FROM_SCKPAD, + .cs_hold_time = 3u, + .cs_setup_time = 3u, + .column_address_width = 0u, + .device_type = FLEXSPI_DEVICE_TYPE_SERIAL_NOR, + .sflash_pad_type = SERIAL_FLASH_4PADS, + .serial_clk_freq = FLEXSPI_SERIAL_CLKFREQ_60MHz, + #ifdef CONFIG_TEENSY_40 + .sflash_a1size = 2u * 1024u * 1024u, + #endif + #ifdef CONFIG_TEENSY_41 + .sflash_a1size = 8u * 1024u * 1024u, + #endif + .data_valid_time = + { + 0u, 0u + }, + .lookup_table = + { + /* LUTs */ + + FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0xeb, + RADDR_SDR, FLEXSPI_4PAD, 0x18), + FLEXSPI_LUT_SEQ(DUMMY_SDR, FLEXSPI_4PAD, 0x06, + READ_SDR, FLEXSPI_4PAD, 0x04), + 0x00000000, + 0x00000000, + + FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x05, + READ_SDR, FLEXSPI_1PAD, 0x04), + 0x00000000, + 0x00000000, + 0x00000000, + + 0x00000000, + 0x00000000, + 0x00000000, + 0x00000000, + + FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x01, STOP, FLEXSPI_1PAD, 0x0), + 0x00000000, + 0x00000000, + 0x00000000, + + 0x00000000, + 0x00000000, + 0x00000000, + 0x00000000, + + FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x20, + RADDR_SDR, FLEXSPI_1PAD, 0x18), + 0x00000000, + 0x00000000, + 0x00000000, + + 0x00000000, + 0x00000000, + 0x00000000, + 0x00000000, + + 0x00000000, + 0x00000000, + 0x00000000, + 0x00000000, + + FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0xd8, + RADDR_SDR, FLEXSPI_1PAD, 0x18), + 0x00000000, + 0x00000000, + 0x00000000, + + FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x02, + RADDR_SDR, FLEXSPI_1PAD, 0x18), + FLEXSPI_LUT_SEQ(WRITE_SDR, FLEXSPI_1PAD, 0x04, + STOP, FLEXSPI_1PAD, 0x0), + 0x00000000, + 0x00000000, + + 0x00000000, + 0x00000000, + 0x00000000, + 0x00000000, + + FLEXSPI_LUT_SEQ(CMD_SDR, FLEXSPI_1PAD, 0x60, STOP, FLEXSPI_1PAD, 0x0), + }, + }, + + .page_size = 256u, + .sector_size = 4u * 1024u, + .blocksize = 64u * 1024u, + .is_uniform_blocksize = false, +}; +#else +# error Boot Flash type not chosen! +#endif + +/**************************************************************************** + * Public Functions + ****************************************************************************/ \ No newline at end of file diff --git a/boards/arm/imxrt/teensy-4.x/src/imxrt_flexspi_nor_flash.h b/boards/arm/imxrt/teensy-4.x/src/imxrt_flexspi_nor_flash.h new file mode 100644 index 0000000000..e580db0088 --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/src/imxrt_flexspi_nor_flash.h @@ -0,0 +1,364 @@ +/**************************************************************************** + * boards/arm/imxrt/teensy-4.x/src/imxrt_flexspi_nor_flash.h + * + * 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. + * + ****************************************************************************/ +#ifndef __BOARDS_ARM_IMXRT_TEENSY_4X_SRC_IMXRT_FLEXSPI_NOR_FLASH_H +# define __BOARDS_ARM_IMXRT_TEENSY_4X_SRC_IMXRT_FLEXSPI_NOR_FLASH_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +# include +# include + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* FLEXSPI memory config block related definitions */ + +# define FLEXSPI_CFG_BLK_TAG (0x42464346ul) +# define FLEXSPI_CFG_BLK_VERSION (0x56010100ul) +# define FLEXSPI_CFG_BLK_SIZE (512) + +/* FLEXSPI Feature related definitions */ + +# define FLEXSPI_FEATURE_HAS_PARALLEL_MODE 1 + +/* Lookup table related definitions */ + +# define CMD_INDEX_READ 0 +# define CMD_INDEX_READSTATUS 1 +# define CMD_INDEX_WRITEENABLE 2 +# define CMD_INDEX_WRITE 4 + +# define CMD_LUT_SEQ_IDX_READ 0 +# define CMD_LUT_SEQ_IDX_READSTATUS 1 +# define CMD_LUT_SEQ_IDX_WRITEENABLE 3 +# define CMD_LUT_SEQ_IDX_WRITE 9 + +# define CMD_SDR 0x01 +# define CMD_DDR 0x21 +# define RADDR_SDR 0x02 +# define RADDR_DDR 0x22 +# define CADDR_SDR 0x03 +# define CADDR_DDR 0x23 +# define MODE1_SDR 0x04 +# define MODE1_DDR 0x24 +# define MODE2_SDR 0x05 +# define MODE2_DDR 0x25 +# define MODE4_SDR 0x06 +# define MODE4_DDR 0x26 +# define MODE8_SDR 0x07 +# define MODE8_DDR 0x27 +# define WRITE_SDR 0x08 +# define WRITE_DDR 0x28 +# define READ_SDR 0x09 +# define READ_DDR 0x29 +# define LEARN_SDR 0x0a +# define LEARN_DDR 0x2a +# define DATSZ_SDR 0x0b +# define DATSZ_DDR 0x2b +# define DUMMY_SDR 0x0c +# define DUMMY_DDR 0x2c +# define DUMMY_RWDS_SDR 0x0d +# define DUMMY_RWDS_DDR 0x2d +# define JMP_ON_CS 0x1f +# define STOP 0 + +# define FLEXSPI_1PAD 0 +# define FLEXSPI_2PAD 1 +# define FLEXSPI_4PAD 2 +# define FLEXSPI_8PAD 3 + +# define FLEXSPI_LUT_OPERAND0_MASK (0xffu) +# define FLEXSPI_LUT_OPERAND0_SHIFT (0U) +# define FLEXSPI_LUT_OPERAND0(x) (((uint32_t) \ + (((uint32_t)(x)) << FLEXSPI_LUT_OPERAND0_SHIFT)) & \ + FLEXSPI_LUT_OPERAND0_MASK) +# define FLEXSPI_LUT_NUM_PADS0_MASK (0x300u) +# define FLEXSPI_LUT_NUM_PADS0_SHIFT (8u) +# define FLEXSPI_LUT_NUM_PADS0(x) (((uint32_t) \ + (((uint32_t)(x)) << FLEXSPI_LUT_NUM_PADS0_SHIFT)) & \ + FLEXSPI_LUT_NUM_PADS0_MASK) +# define FLEXSPI_LUT_OPCODE0_MASK (0xfc00u) +# define FLEXSPI_LUT_OPCODE0_SHIFT (10u) +# define FLEXSPI_LUT_OPCODE0(x) (((uint32_t) \ + (((uint32_t)(x)) << FLEXSPI_LUT_OPCODE0_SHIFT)) & \ + FLEXSPI_LUT_OPCODE0_MASK) +# define FLEXSPI_LUT_OPERAND1_MASK (0xff0000u) +# define FLEXSPI_LUT_OPERAND1_SHIFT (16U) +# define FLEXSPI_LUT_OPERAND1(x) (((uint32_t) \ + (((uint32_t)(x)) << FLEXSPI_LUT_OPERAND1_SHIFT)) & \ + FLEXSPI_LUT_OPERAND1_MASK) +# define FLEXSPI_LUT_NUM_PADS1_MASK (0x3000000u) +# define FLEXSPI_LUT_NUM_PADS1_SHIFT (24u) +# define FLEXSPI_LUT_NUM_PADS1(x) (((uint32_t) \ + (((uint32_t)(x)) << FLEXSPI_LUT_NUM_PADS1_SHIFT)) & \ + FLEXSPI_LUT_NUM_PADS1_MASK) +# define FLEXSPI_LUT_OPCODE1_MASK (0xfc000000u) +# define FLEXSPI_LUT_OPCODE1_SHIFT (26u) +# define FLEXSPI_LUT_OPCODE1(x) (((uint32_t)(((uint32_t)(x)) << FLEXSPI_LUT_OPCODE1_SHIFT)) & \ + FLEXSPI_LUT_OPCODE1_MASK) + +# define FLEXSPI_LUT_SEQ(cmd0, pad0, op0, cmd1, pad1, op1) \ + (FLEXSPI_LUT_OPERAND0(op0) | FLEXSPI_LUT_NUM_PADS0(pad0) | \ + FLEXSPI_LUT_OPCODE0(cmd0) | FLEXSPI_LUT_OPERAND1(op1) | \ + FLEXSPI_LUT_NUM_PADS1(pad1) | FLEXSPI_LUT_OPCODE1(cmd1)) + +/* */ + +# define NOR_CMD_INDEX_READ CMD_INDEX_READ +# define NOR_CMD_INDEX_READSTATUS CMD_INDEX_READSTATUS +# define NOR_CMD_INDEX_WRITEENABLE CMD_INDEX_WRITEENABLE +# define NOR_CMD_INDEX_ERASESECTOR 3 +# define NOR_CMD_INDEX_PAGEPROGRAM CMD_INDEX_WRITE +# define NOR_CMD_INDEX_CHIPERASE 5 +# define NOR_CMD_INDEX_DUMMY 6 +# define NOR_CMD_INDEX_ERASEBLOCK 7 + +/* READ LUT sequence id in lookupTable stored in config block */ + +# define NOR_CMD_LUT_SEQ_IDX_READ CMD_LUT_SEQ_IDX_READ + +/* Read Status LUT sequence id in lookupTable stored in config block */ + +# define NOR_CMD_LUT_SEQ_IDX_READSTATUS CMD_LUT_SEQ_IDX_READSTATUS + +/* 2 Read status DPI/QPI/OPI sequence id in LUT stored in config block */ + +# define NOR_CMD_LUT_SEQ_IDX_READSTATUS_XPI 2 + +/* 3 Write Enable sequence id in lookupTable stored in config block */ + +# define NOR_CMD_LUT_SEQ_IDX_WRITEENABLE CMD_LUT_SEQ_IDX_WRITEENABLE + +/* 4 Write Enable DPI/QPI/OPI sequence id in LUT stored in config block */ + +# define NOR_CMD_LUT_SEQ_IDX_WRITEENABLE_XPI 4 + +/* 5 Erase Sector sequence id in lookupTable stored in config block */ + +# define NOR_CMD_LUT_SEQ_IDX_ERASESECTOR 5 + +/* 8 Erase Block sequence id in lookupTable stored in config block */ + +# define NOR_CMD_LUT_SEQ_IDX_ERASEBLOCK 8 + +/* 9 Program sequence id in lookupTable stored in config block */ + +# define NOR_CMD_LUT_SEQ_IDX_PAGEPROGRAM CMD_LUT_SEQ_IDX_WRITE + +/* 11 Chip Erase sequence in lookupTable id stored in config block */ + +# define NOR_CMD_LUT_SEQ_IDX_CHIPERASE 11 + +/* 13 Read SFDP sequence in lookupTable id stored in config block */ + +# define NOR_CMD_LUT_SEQ_IDX_READ_SFDP 13 + +/* 14 Restore 0-4-4/0-8-8 mode sequence id in LUT stored in config block */ + +# define NOR_CMD_LUT_SEQ_IDX_RESTORE_NOCMD 14 + +/* 15 Exit 0-4-4/0-8-8 mode sequence id in LUT stored in config blobk */ + +# define NOR_CMD_LUT_SEQ_IDX_EXIT_NOCMD 15 + +/**************************************************************************** + * Public Types + ****************************************************************************/ + +/* Definitions for FlexSPI Serial Clock Frequency */ + +enum flexspi_serial_clkfreq_e + { + FLEXSPI_SERIAL_CLKFREQ_30MHz = 1, + FLEXSPI_SERIAL_CLKFREQ_50MHz = 2, + FLEXSPI_SERIAL_CLKFREQ_60MHz = 3, + FLEXSPI_SERIAL_CLKFREQ_75MHz = 4, + FLEXSPI_SERIAL_CLKFREQ_80MHz = 5, + FLEXSPI_SERIAL_CLKFREQ_100MHz = 6, + FLEXSPI_SERIAL_CLKFREQ_133MHz = 7, + FLEXSPI_SERIAL_CLKFREQ_166MHz = 8, + FLEXSPI_SERIAL_CLKFREQ_200MHz = 9, + }; + +/* FlexSPI clock configuration type */ + +enum flexspi_serial_clockmode_e + { + FLEXSPI_CLKMODE_SDR, + FLEXSPI_CLKMODE_DDR, + }; + +/* FlexSPI Read Sample Clock Source definition */ + +enum flash_read_sample_clk_e + { + FLASH_READ_SAMPLE_CLK_LOOPBACK_INTERNELLY = 0, + FLASH_READ_SAMPLE_CLK_LOOPBACK_FROM_DQSPAD = 1, + FLASH_READ_SAMPLE_CLK_LOOPBACK_FROM_SCKPAD = 2, + FLASH_READ_SAMPLE_CLK_EXTERNALINPUT_FROM_DQSPAD = 3, + }; + +/* Misc feature bit definitions */ + +enum flash_misc_feature_e + { + FLEXSPIMISC_OFFSET_DIFFCLKEN = 0, /* Bit for Differential clock enable */ + FLEXSPIMISC_OFFSET_CK2EN = 1, /* Bit for CK2 enable */ + FLEXSPIMISC_OFFSET_PARALLELEN = 2, /* Bit for Parallel mode enable */ + + FLEXSPIMISC_OFFSET_WORD_ADDRESSABLE_EN = 3, /* Bit for Word Addressable + * enable */ + FLEXSPIMISC_OFFSET_SAFECONFIG_FREQ_EN = 4, /* Bit for Safe Configuration + * Frequency enable */ + + FLEXSPIMISC_OFFSET_PAD_SETTING_OVERRIDE_EN = 5, /* Bit for Pad setting + * override enable */ + + FLEXSPIMISC_OFFSET_DDR_MODE_EN = 6, /* Bit for DDR clock confiuration + * indication. */ + }; + +/* Flash Type Definition */ + +enum flash_flash_type_e + { + FLEXSPI_DEVICE_TYPE_SERIAL_NOR = 1, /* Flash devices are Serial NOR */ + FLEXSPI_DEVICE_TYPE_SERIAL_NAND = 2, /* Flash devices are Serial + * NAND */ + FLEXSPI_DEVICE_TYPE_SERIAL_RAM = 3, /* Flash devices are Serial + * RAM/HyperFLASH */ + + FLEXSPI_DEVICE_TYPE_MCP_NOR_NAND = 0x12, /* Flash device is MCP device, + * A1 is Serial NOR, A2 is + * Serial NAND */ + FLEXSPI_DEVICE_TYPE_MCP_NOR_RAM = 0x13, /* Flash device is MCP device, + * A1 is Serial NOR, A2 is + * Serial RAMs */ + }; + +/* Flash Pad Definitions */ + +enum flash_flash_pad_e + { + SERIAL_FLASH_1PAD = 1, + SERIAL_FLASH_2PADS = 2, + SERIAL_FLASH_4PADS = 4, + SERIAL_FLASH_8PADS = 8, + }; + +/* Flash Configuration Command Type */ + +enum flash_config_cmd_e + { + DEVICE_CONFIG_CMD_TYPE_GENERIC, /* Generic command, for example: + * configure dummy cycles, drive + * strength, etc */ + DEVICE_CONFIG_CMD_TYPE_QUADENABLE, /* Quad Enable command */ + DEVICE_CONFIG_CMD_TYPE_SPI2XPI, /* Switch from SPI to DPI/QPI/OPI mode */ + DEVICE_CONFIG_CMD_TYPE_XPI2SPI, /* Switch from DPI/QPI/OPI to SPI mode */ + DEVICE_CONFIG_CMD_TYPE_SPI2NO_CMD, /* Switch to 0-4-4/0-8-8 mode */ + DEVICE_CONFIG_CMD_TYPE_RESET, /* Reset device command */ + }; + +/* FlexSPI LUT Sequence structure */ + +struct flexspi_lut_seq_s + { + uint8_t seq_num; /* Sequence Number, valid number: 1-16 */ + uint8_t seq_id; /* Sequence Index, valid number: 0-15 */ + uint16_t reserved; + }; + +/* FlexSPI Memory Configuration Block */ + +struct flexspi_mem_config_s + { + uint32_t tag; + uint32_t version; + uint32_t reserved0; + uint8_t read_sample_clksrc; + uint8_t cs_hold_time; + uint8_t cs_setup_time; + uint8_t column_address_width; /* [0x00f-0x00f] Column Address with, + * for HyperBus protocol, it is fixed + * to 3, For Serial NAND, need to refer + * to datasheet */ + uint8_t device_mode_cfg_enable; + uint8_t device_mode_type; + uint16_t wait_time_cfg_commands; + struct flexspi_lut_seq_s device_mode_seq; + uint32_t device_mode_arg; + uint8_t config_cmd_enable; + uint8_t config_mode_type[3]; + struct flexspi_lut_seq_s config_cmd_seqs[3]; + uint32_t reserved1; + uint32_t config_cmd_args[3]; + uint32_t reserved2; + uint32_t controller_misc_option; + uint8_t device_type; + uint8_t sflash_pad_type; + uint8_t serial_clk_freq; + uint8_t lut_custom_seq_enable; + uint32_t reserved3[2]; + uint32_t sflash_a1size; + uint32_t sflash_a2size; + uint32_t sflash_b1size; + uint32_t sflash_b2size; + uint32_t cspad_setting_override; + uint32_t sclkpad_setting_override; + uint32_t datapad_setting_override; + uint32_t dqspad_setting_override; + uint32_t timeout_in_ms; + uint32_t command_interval; + uint16_t data_valid_time[2]; + uint16_t busy_offset; + uint16_t busybit_polarity; + uint32_t lookup_table[64]; + struct flexspi_lut_seq_s lut_customseq[12]; + uint32_t reserved4[4]; + }; + +/* Serial NOR configuration block */ + +struct flexspi_nor_config_s + { + struct flexspi_mem_config_s mem_config; /* Common memory configuration + * info via FlexSPI */ + + uint32_t page_size; /* Page size of Serial NOR */ + uint32_t sector_size; /* Sector size of Serial NOR */ + uint8_t ipcmd_serial_clkfreq; /* Clock frequency for IP command */ + uint8_t is_uniform_blocksize; /* Sector/Block size is the same */ + uint8_t reserved0[2]; /* Reserved for future use */ + uint8_t serial_nor_type; /* Serial NOR Flash type: 0/1/2/3 */ + uint8_t need_exit_nocmdmode; /* Need to exit NoCmd mode before other + * IP command */ + uint8_t halfclk_for_nonreadcmd; /* Half the Serial Clock for non-read + * command: true/false */ + uint8_t need_restore_nocmdmode; /* Need to Restore NoCmd mode after IP + * command execution */ + uint32_t blocksize; /* Block size */ + uint32_t reserve2[11]; /* Reserved for future use */ + }; + +#endif /* __BOARDS_ARM_IMXRT_TEENSY_4_SRC_IMXRT_FLEXSPI_NOR_FLASH_H */ diff --git a/boards/arm/imxrt/teensy-4.x/src/imxrt_i2c.c b/boards/arm/imxrt/teensy-4.x/src/imxrt_i2c.c new file mode 100644 index 0000000000..6b4fff0da0 --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/src/imxrt_i2c.c @@ -0,0 +1,114 @@ +/**************************************************************************** + * boards/arm/imxrt/teensy-4.x/src/imxrt_i2c.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 + +#include +#include +#include + +#include +#include +#include + +#include "teensy-4.h" + +#ifdef CONFIG_IMXRT_LPI2C + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: imxrt_i2c_register + * + * Description: + * Register I2C driver + * + ****************************************************************************/ + +#ifdef CONFIG_I2C_DRIVER +static void imxrt_i2c_register(int bus) +{ + FAR struct i2c_master_s *i2c; + int ret; + + i2c = imxrt_i2cbus_initialize(bus); + if (i2c == NULL) + { + serr("ERROR: Failed to get I2C%d interface\n", bus); + } + else + { + ret = i2c_register(i2c, bus); + if (ret < 0) + { + serr("ERROR: Failed to register I2C%d driver: %d\n", bus, ret); + imxrt_i2cbus_uninitialize(i2c); + } + } + + #ifdef SENSORS_BMP280 + if (CONFIG_BMP280_LPI2C == bus) + { + /* Register the BMP280 driver */ + + ret = bmp280_register(BMP280_DRIVER_PATH, i2c); + if (ret < 0) + { + serr("ERROR: Failed to register BMP280\n"); + } + } + #endif +} +#endif + +/**************************************************************************** + * Name: imxrt_i2c_setup + * + * Description: + * Choose which I2C driver should be initialize + * + ****************************************************************************/ + +void imxrt_i2c_setup() +{ +#if defined(CONFIG_I2C_DRIVER) && defined(CONFIG_IMXRT_LPI2C1) + imxrt_i2c_register(1); +#endif + +#if defined(CONFIG_I2C_DRIVER) && defined(CONFIG_IMXRT_LPI2C2) + serr("ERROR: LPI2C2 is not on Teensy-4.x board\n"); +#endif + +#if defined(CONFIG_I2C_DRIVER) && defined(CONFIG_IMXRT_LPI2C3) + imxrt_i2c_register(3); +#endif + +#if defined(CONFIG_I2C_DRIVER) && defined(CONFIG_IMXRT_LPI2C4) + imxrt_i2c_register(4); +#endif +} + +#endif /* CONFIG_IMXRT_LPI2C */ diff --git a/boards/arm/imxrt/teensy-4.x/src/imxrt_spi.c b/boards/arm/imxrt/teensy-4.x/src/imxrt_spi.c new file mode 100644 index 0000000000..ed02f5f8a3 --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/src/imxrt_spi.c @@ -0,0 +1,212 @@ +/**************************************************************************** + * boards/arm/imxrt/teensy-4.x/src/imxrt_spi.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 + +#include +#include +#include +#include + +#include +#include + +#include "arm_arch.h" + +#include "imxrt_config.h" +#include "imxrt_lpspi.h" +#include "imxrt_gpio.h" +#include "teensy-4.h" + +#if defined(CONFIG_IMXRT_LPSPI1) || defined(CONFIG_IMXRT_LPSPI2) || \ + defined(CONFIG_IMXRT_LPSPI3) || defined(CONFIG_IMXRT_LPSPI4) + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: imxrt_spidev_initialize + * + * Description: + * Called to configure SPI chip select GPIO pins for the imxrt1060-evk + * board. + * + ****************************************************************************/ + +void weak_function imxrt_spidev_initialize(void) +{ +#ifdef CONFIG_IMXRT_LPSPI3 + imxrt_config_gpio(GPIO_LPSPI3_CS); /* LPSPI3 chip select */ +#endif +#ifdef CONFIG_IMXRT_LPSPI4 + imxrt_config_gpio(GPIO_LPSPI4_CS); /* LPSPI4 chip select */ +#endif +} + +/**************************************************************************** + * Name: imxrt_lpspi1/2/3select and imxrt_lpspi1/2/3status + * + * Description: + * The external functions, imxrt_lpspi1/2/3select and imxrt_lpspi1/2/3status + * must be provided by board-specific logic. + * They are implementations of the select and status methods of the SPI + * interface defined by struct spi_ops_s (see include/nuttx/spi/spi.h). + * All other methods (including imxrt_lpspibus_initialize()) + * are provided by common STM32 logic. + * To use this common SPI logic on your board: + * + * 1. Provide logic in imxrt_boardinitialize() to configure SPI chip select + * pins. + * 2. Provide imxrt_lpspi1/2/3select() and imxrt_lpspi1/2/3status() + * functions in your board-specific logic. + * These functions will perform chip selection and status operations + * using GPIOs in the way your board is configured. + * 3. Add a calls to imxrt_lpspibus_initialize() in your low level + * application initialization logic + * 4. The handle returned by imxrt_lpspibus_initialize() may then be used + * to bind the SPI driver to higher level logic (e.g., calling + * mmcsd_spislotinitialize(), for example, will bind the SPI driver to + * the SPI MMC/SD driver). + * + ****************************************************************************/ + +#ifdef CONFIG_IMXRT_LPSPI1 +void imxrt_lpspi1select(FAR struct spi_dev_s *dev, uint32_t devid, + bool selected) +{ + spiinfo("devid: %d CS: %s\n", (int)devid, + selected ? "assert" : "de-assert"); + + imxrt_gpio_write(GPIO_LPSPI1_CS, !selected); +} + +uint8_t imxrt_lpspi1status(FAR struct spi_dev_s *dev, uint32_t devid) +{ + return 0; +} +#endif + +#ifdef CONFIG_IMXRT_LPSPI2 +void imxrt_lpspi2select(FAR struct spi_dev_s *dev, uint32_t devid, + bool selected) +{ + spiinfo("devid: %d CS: %s\n", (int)devid, + selected ? "assert" : "de-assert"); + + imxrt_gpio_write(GPIO_LPSPI2_CS, !selected); +} + +uint8_t imxrt_lpspi2status(FAR struct spi_dev_s *dev, uint32_t devid) +{ + return 0; +} +#endif + +#ifdef CONFIG_IMXRT_LPSPI3 +void imxrt_lpspi3select(FAR struct spi_dev_s *dev, uint32_t devid, + bool selected) +{ + spiinfo("devid: %d CS: %s\n", (int)devid, + selected ? "assert" : "de-assert"); + + imxrt_gpio_write(GPIO_LPSPI3_CS, !selected); +} + +uint8_t imxrt_lpspi3status(FAR struct spi_dev_s *dev, uint32_t devid) +{ + return 0; +} +#endif + +#ifdef CONFIG_IMXRT_LPSPI4 +void imxrt_lpspi4select(FAR struct spi_dev_s *dev, uint32_t devid, + bool selected) +{ + spiinfo("devid: %d CS: %s\n", (int)devid, + selected ? "assert" : "de-assert"); + + imxrt_gpio_write(GPIO_LPSPI4_CS, !selected); +} + +uint8_t imxrt_lpspi4status(FAR struct spi_dev_s *dev, uint32_t devid) +{ + return 0; +} +#endif + +/**************************************************************************** + * Name: imxrt_lpspi1cmddata + * + * Description: + * Set or clear the SH1101A A0 or SD1306 D/C n bit to select data (true) + * or command (false). This function must be provided by platform-specific + * logic. This is an implementation of the cmddata method of the SPI + * interface defined by struct spi_ops_s (see include/nuttx/spi/spi.h). + * + * Input Parameters: + * + * spi - SPI device that controls the bus the device that requires the CMD/ + * DATA selection. + * devid - If there are multiple devices on the bus, this selects which one + * to select cmd or data. NOTE: This design restricts, for example, + * one one SPI display per SPI bus. + * cmd - true: select command; false: select data + * + * Returned Value: + * None + * + ****************************************************************************/ + +#ifdef CONFIG_SPI_CMDDATA +#ifdef CONFIG_IMXRT_LPSPI1 +int imxrt_lpspi1cmddata(FAR struct spi_dev_s *dev, uint32_t devid, bool cmd) +{ + return -ENODEV; +} +#endif + +#ifdef CONFIG_IMXRT_LPSPI2 +int imxrt_lpspi2cmddata(FAR struct spi_dev_s *dev, uint32_t devid, bool cmd) +{ + return -ENODEV; +} +#endif + +#ifdef CONFIG_IMXRT_LPSPI3 +int imxrt_lpspi3cmddata(FAR struct spi_dev_s *dev, uint32_t devid, bool cmd) +{ + return -ENODEV; +} +#endif + +#ifdef CONFIG_IMXRT_LPSPI4 +int imxrt_lpspi4cmddata(FAR struct spi_dev_s *dev, uint32_t devid, bool cmd) +{ + return -ENODEV; +} +#endif +#endif /* CONFIG_SPI_CMDDATA */ + +#endif /* CONFIG_IMXRT_LPSPI1 || CONFIG_IMXRT_LPSPI2 */ diff --git a/boards/arm/imxrt/teensy-4.x/src/imxrt_userleds.c b/boards/arm/imxrt/teensy-4.x/src/imxrt_userleds.c new file mode 100644 index 0000000000..19ccde48e0 --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/src/imxrt_userleds.c @@ -0,0 +1,82 @@ +/**************************************************************************** + * boards/arm/imxrt/teensy-4.x/src/imxrt_userleds.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. + * + ****************************************************************************/ + +/* There are two LED status indicators located on the EVK Board. The + * functions of these LEDs include: + * + * - RED LED (loading status) + * - dim: ready + * - bright: writing + * - blink: no USB + * - USER LED (D8) + * + * Only a single LED, D8, is under software control. + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include "imxrt_gpio.h" +#include "imxrt_iomuxc.h" +#include +#include "teensy-4.h" + +#ifndef CONFIG_ARCH_LEDS + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: board_userled_initialize + ****************************************************************************/ + +uint32_t board_userled_initialize(void) +{ + /* Configure LED GPIO for output */ + + imxrt_config_gpio(GPIO_LED); + return BOARD_NLEDS; +} + +/**************************************************************************** + * Name: board_userled + ****************************************************************************/ + +void board_userled(int led, bool ledon) +{ + imxrt_gpio_write(GPIO_LED, !ledon); /* Low illuminates */ +} + +/**************************************************************************** + * Name: board_userled_all + ****************************************************************************/ + +void board_userled_all(uint32_t ledset) +{ + /* Low illuminates */ + + imxrt_gpio_write(GPIO_LED, (ledset & BOARD_USERLED_BIT) == 0); +} + +#endif /* !CONFIG_ARCH_LEDS */ diff --git a/boards/arm/imxrt/teensy-4.x/src/teensy-4.h b/boards/arm/imxrt/teensy-4.x/src/teensy-4.h new file mode 100644 index 0000000000..178784d99e --- /dev/null +++ b/boards/arm/imxrt/teensy-4.x/src/teensy-4.h @@ -0,0 +1,195 @@ +/**************************************************************************** + * boards/arm/imxrt/teensy-4.x/src/teensy-4.h + * + * 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. + * + ****************************************************************************/ + +#ifndef __BOARDS_ARM_IMXRT_TEENSY_4X_SRC_TEENSY_4_H +# define __BOARDS_ARM_IMXRT_TEENSY_4X_SRC_TEENSY_4_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +# include + +# include +# include + +# include +# include + +# include "imxrt_gpio.h" +# include "imxrt_iomuxc.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* i.MX RT 1060 GPIO Pin Definitions ****************************************/ + +/* LEDs */ + +/* There are two LED status indicators located on the Teensy 4.x board. + * The functions of these LEDs include: + * + * - RED LED (loading status) + * - dim: ready + * - bright: writing + * - blink: no USB + * - USER LED(D8) + * + * Only a single LED, D8, is under software control. + */ + +# define GPIO_LED (GPIO_OUTPUT | IOMUX_LED_DEFAULT | \ + GPIO_OUTPUT_ZERO | GPIO_PORT2 | GPIO_PIN3) /* BO_03 */ + +# define LED_DRIVER_PATH "/dev/userleds" + +# define BMP280_DRIVER_PATH "/dev/press0" + +/* LPSPI3 CS: GPIO_AD_B1_12 */ + +# define IOMUX_LPSPI3_CS (IOMUX_SLEW_FAST | IOMUX_DRIVE_50OHM | \ + IOMUX_SPEED_MEDIUM | IOMUX_PULL_UP_100K | \ + _IOMUX_PULL_ENABLE) +# define GPIO_LPSPI3_CS (GPIO_OUTPUT | GPIO_OUTPUT_ONE | \ + GPIO_PORT1 | GPIO_PIN28 | IOMUX_LPSPI3_CS) + +/* LPSPI4 CS: GPIO_B0_00 */ + +# define IOMUX_LPSPI4_CS (IOMUX_SLEW_FAST | IOMUX_DRIVE_50OHM | \ + IOMUX_SPEED_MEDIUM | IOMUX_PULL_UP_100K | \ + _IOMUX_PULL_ENABLE) +# define GPIO_LPSPI4_CS (GPIO_OUTPUT | GPIO_OUTPUT_ONE | \ + GPIO_PORT2 | GPIO_PIN0 | IOMUX_LPSPI4_CS) + +/* USB OTG ID Pin： GPIO_AD_B1_02 */ + +#define GPIO_USBOTG_ID (GPIO_USB_OTG1_ID_1 | IOMUX_USBOTG_ID_DEFAULT) /* AD_B1_02 */ + +/* Ethernet */ + +/* Ethernet Interrupt: GPIO_B0_15 + * + * This pin has a week pull-up within the PHY, is open-drain, and requires + * an external 1k ohm pull-up resistor (present on the EVK). A falling + * edge then indicates a change in state of the PHY. + */ + +#define GPIO_ENET_INT (IOMUX_ENET_INT_DEFAULT | \ + GPIO_PORT2 | GPIO_PIN15) /* B0_15 */ +#define GPIO_ENET_IRQ IMXRT_IRQ_GPIO2_15 + +/* Ethernet Reset: GPIO_B0_14 + * + * The #RST uses inverted logic. The initial value of zero will put the + * PHY into the reset state. + */ + +#define GPIO_ENET_RST (GPIO_OUTPUT | GPIO_OUTPUT_ZERO | \ + GPIO_PORT2 | GPIO_PIN14 | IOMUX_ENET_RST_DEFAULT) /* B0_14 */ + +/**************************************************************************** + * Public Types + ****************************************************************************/ + +/**************************************************************************** + * Public data + ****************************************************************************/ + +# ifndef __ASSEMBLY__ + +/**************************************************************************** + * Name: imxrt_bringup + * + * Description: + * Bring up board features + * + ****************************************************************************/ + +# if defined(CONFIG_LIB_BOARDCTL) || defined(CONFIG_BOARD_LATE_INITIALIZE) +int imxrt_bringup(void); +# endif + +/**************************************************************************** + * Name: imxrt_spidev_initialize + * + * Description: + * Called to configure SPI chip select GPIO pins for the i.MXRT1050 EVK. + * + ****************************************************************************/ + +void imxrt_spidev_initialize(void); + +/**************************************************************************** + * Name: imxrt_can_setup + * + * Description: + * Initialize CAN and register the CAN device + * + ****************************************************************************/ + +#ifdef CONFIG_IMXRT_FLEXCAN +int imxrt_can_setup(void); +#endif + +/**************************************************************************** + * Name: imxrt_adc_initialize + * + * Description: + * Initialize ADC drivers + * + ****************************************************************************/ + +#ifdef CONFIG_IMXRT_ADC +int imxrt_adc_initialize(void); +#endif + +/**************************************************************************** + * Name: imxrt_i2c_setup + * + * Description: + * Choose which I2C driver should be initialize + * + ****************************************************************************/ + +#ifdef CONFIG_IMXRT_LPI2C +void imxrt_i2c_setup(void); +#endif + +/**************************************************************************** + * Name: imxrt_autoled_initialize + * + * Description: + * Initialize NuttX-controlled LED logic + * + * Input Parameters: + * None + * + * Returned Value: + * None + * + ****************************************************************************/ + +#ifdef CONFIG_ARCH_LEDS +void imxrt_autoled_initialize(void); +#endif + +#endif /* __ASSEMBLY__ */ +#endif /* __BOARDS_ARM_TEENSY_4X_SRC_TEENSY_4_H */