boards/arm64/imx9/imx93-evk: Add PWM support utilizing flexio-pwm

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>

boards/arm64/imx9/imx93-evk/configs/nsh/defconfig

@@ -32,6 +32,7 @@ CONFIG_FS_ROMFS=y
 CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=8192
+CONFIG_IMX9_FLEXIO1_PWM=y
 CONFIG_IMX9_GPIO_IRQ=y
 CONFIG_IMX9_UART1=y
 CONFIG_INIT_ENTRYPOINT="nsh_main"
@@ -41,6 +42,8 @@ CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_FILEIOSIZE=512
 CONFIG_NSH_READLINE=y
 CONFIG_PREALLOC_TIMERS=4
+CONFIG_PWM=y
+CONFIG_PWM_NCHANNELS=4
 CONFIG_RAMLOG=y
 CONFIG_RAM_SIZE=134217728
 CONFIG_RAM_START=0x80000000

boards/arm64/imx9/imx93-evk/include/board.h

@@ -31,6 +31,20 @@
  * Pre-processor Definitions
  ****************************************************************************/
 
+/* FLEXIO to PWM pin muxings */
+
+/* EVK signals
+ * GPIO_IO04 -> FLEXIO1_04
+ * GPIO_IO05 -> FLEXIO1_05
+ * GPIO_IO06 -> FLEXIO1_06
+ * GPIO_IO07 -> FLEXIO1_07
+ */
+
+#define FLEXIO1_PWM0_MUX IOMUX_CFG(IOMUXC_PAD_GPIO_IO04_FLEXIO1_FLEXIO04, IOMUXC_PAD_FSEL_SFAST | IOMUXC_PAD_DSE_X6, 0)
+#define FLEXIO1_PWM1_MUX IOMUX_CFG(IOMUXC_PAD_GPIO_IO05_FLEXIO1_FLEXIO05, IOMUXC_PAD_FSEL_SFAST | IOMUXC_PAD_DSE_X6, 0)
+#define FLEXIO1_PWM2_MUX IOMUX_CFG(IOMUXC_PAD_GPIO_IO06_FLEXIO1_FLEXIO06, IOMUXC_PAD_FSEL_SFAST | IOMUXC_PAD_DSE_X6, 0)
+#define FLEXIO1_PWM3_MUX IOMUX_CFG(IOMUXC_PAD_GPIO_IO07_FLEXIO1_FLEXIO07, IOMUXC_PAD_FSEL_SFAST | IOMUXC_PAD_DSE_X6, 0)
+
 /****************************************************************************
  * Public Data
  ****************************************************************************/

boards/arm64/imx9/imx93-evk/src/Makefile

@@ -26,4 +26,8 @@ ifeq ($(CONFIG_BOARDCTL),y)
 CSRCS += imx9_appinit.c
 endif
 
+ifeq ($(CONFIG_PWM),y)
+CSRCS += imx9_pwm.c
+endif
+
 include $(TOPDIR)/boards/Board.mk

boards/arm64/imx9/imx93-evk/src/imx93-evk.h

@@ -55,5 +55,17 @@
 int imx9_bringup(void);
 #endif
 
+/****************************************************************************
+ * Name: imx9_pwm_setup
+ *
+ * Description:
+ *   Initialize PWM outputs
+ *
+ ****************************************************************************/
+
+#if defined(CONFIG_PWM)
+int imx9_pwm_setup(void);
+#endif
+
 #endif /* __ASSEMBLY__ */
 #endif /* __BOARDS_ARM64_IMX9_IMX93_EVK_SRC_IMX93_EVK_H */

boards/arm64/imx9/imx93-evk/src/imx9_bringup.c

@@ -57,6 +57,16 @@ int imx9_bringup(void)
     }
 #endif
 
+#ifdef CONFIG_PWM
+  /* Configure PWM outputs */
+
+  ret = imx9_pwm_setup();
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: Failed initialize PWM outputs: %d\n", ret);
+    }
+#endif
+
   UNUSED(ret);
   return OK;
 }

boards/arm64/imx9/imx93-evk/src/imx9_pwm.c

@@ -0,0 +1,93 @@
+/****************************************************************************
+ * boards/arm64/imx9/imx93-evk/src/imx9_pwm.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/timers/pwm.h>
+#include <arch/board/board.h>
+
+#include <errno.h>
+
+#include "imx9_flexio_pwm.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: imx9_pwm_setup
+ *
+ * Description:
+ *
+ *   Initialize PWM and register PWM devices
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   0 on success, negated error value on error
+ *
+ ****************************************************************************/
+
+int imx9_pwm_setup(void)
+{
+  struct pwm_lowerhalf_s *lower_half = NULL;
+  int ret = 0;
+
+#ifdef CONFIG_IMX9_FLEXIO1_PWM
+  lower_half = imx9_flexio_pwm_init(PWM_FLEXIO1);
+
+  if (lower_half)
+    {
+      ret = pwm_register("/dev/pwm0", lower_half);
+    }
+  else
+    {
+      ret = -ENODEV;
+    }
+
+  if (ret < 0)
+    {
+      return ret;
+    }
+#endif
+
+#ifdef CONFIG_IMX9_FLEXIO2_PWM
+  lower_half = imx9_flexio_pwm_init(PWM_FLEXIO2);
+
+  if (lower_half)
+    {
+      ret = pwm_register("/dev/pwm1", lower_half);
+    }
+  else
+    {
+      ret = -ENODEV;
+    }
+#endif
+
+  return ret;
+}