boards/arm/imxrt/teensy-4.x: added board level support for FlexPWM driver

Signed-off-by: Michal Lenc <michallenc@seznam.cz>

boards/arm/imxrt/teensy-4.x/configs/pwm-4.1/defconfig

@@ -0,0 +1,57 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD="teensy-4.x"
+CONFIG_ARCH_BOARD_TEENSY_4X=y
+CONFIG_ARCH_CHIP="imxrt"
+CONFIG_ARCH_CHIP_IMXRT=y
+CONFIG_ARCH_CHIP_MIMXRT1062DVL6A=y
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DCACHE_WRITETHROUGH=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARD_LOOPSPERMSEC=104926
+CONFIG_BUILTIN=y
+CONFIG_EXAMPLES_PWM=y
+CONFIG_EXAMPLES_PWM_DEVPATH="/dev/pwm1"
+CONFIG_EXAMPLES_PWM_DURATION=10
+CONFIG_EXAMPLES_PWM_DUTYPCT1=30
+CONFIG_EXAMPLES_PWM_DUTYPCT2=80
+CONFIG_EXAMPLES_PWM_FREQUENCY=4000
+CONFIG_FS_PROCFS=y
+CONFIG_IDLETHREAD_STACKSIZE=2048
+CONFIG_IMXRT_FLEXPWM2=y
+CONFIG_IMXRT_FLEXPWM2_MOD1=y
+CONFIG_IMXRT_FLEXPWM2_MOD2=y
+CONFIG_IMXRT_LPUART1=y
+CONFIG_INTELHEX_BINARY=y
+CONFIG_IOB_NBUFFERS=24
+CONFIG_IOB_NCHAINS=24
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LPUART1_SERIAL_CONSOLE=y
+CONFIG_MAX_TASKS=16
+CONFIG_MM_IOB=y
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_LINELEN=64
+CONFIG_NSH_READLINE=y
+CONFIG_PWM=y
+CONFIG_PWM_MULTICHAN=y
+CONFIG_PWM_NCHANNELS=2
+CONFIG_RAM_SIZE=1048576
+CONFIG_RAM_START=0x20200000
+CONFIG_SCHED_HPWORK=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_START_DAY=14
+CONFIG_START_MONTH=3
+CONFIG_SYSTEM_NSH=y
+CONFIG_TEENSY_41=y
+CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_WQUEUE_NOTIFIER=y

boards/arm/imxrt/teensy-4.x/include/board.h

@@ -276,6 +276,11 @@
 #define GPIO_FLEXCAN3_TX     (GPIO_FLEXCAN3_TX_3|IOMUX_CAN_DEFAULT) /* GPIO_EMC_36 */
 #define GPIO_FLEXCAN3_RX     (GPIO_FLEXCAN3_RX_3|IOMUX_CAN_DEFAULT) /* GPIO_EMC_37 */
 
+/* FlexPWM */
+
+#define GPIO_FLEXPWM2_MOD1_A (GPIO_FLEXPWM2_PWMA00_1|IOMUX_PWM_DEFAULT) /* GPIO_EMC_06 */
+#define GPIO_FLEXPWM2_MOD2_A (GPIO_FLEXPWM2_PWMA01_1|IOMUX_PWM_DEFAULT) /* GPIO_EMC_08 */
+
 /****************************************************************************
  * Public Types
  ****************************************************************************/

boards/arm/imxrt/teensy-4.x/src/Makefile

@@ -46,6 +46,10 @@ ifeq ($(CONFIG_IMXRT_FLEXCAN),y)
 CSRCS += imxrt_flexcan.c
 endif
 
+ifeq ($(CONFIG_IMXRT_FLEXPWM),y)
+CSRCS += imxrt_flexpwm.c
+endif
+
 ifeq ($(CONFIG_IMXRT_ENET),y)
 CSRCS += imxrt_ethernet.c
 endif

boards/arm/imxrt/teensy-4.x/src/imxrt_bringup.c

@@ -163,6 +163,15 @@ int imxrt_bringup(void)
     }
 #endif
 
+#ifdef CONFIG_IMXRT_FLEXPWM
+  ret = imxrt_pwm_setup();
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: imxrt_pwm_setup() failed: %d\n", ret);
+      return ret;
+    }
+#endif
+
 #ifdef CONFIG_VIDEO_FB
   /* Initialize and register the framebuffer driver */
 

boards/arm/imxrt/teensy-4.x/src/imxrt_flexpwm.c

@@ -0,0 +1,151 @@
+/****************************************************************************
+ * boards/arm/imxrt/teensy-4.x/src/imxrt_flexpwm.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/board.h>
+#include <nuttx/timers/pwm.h>
+
+#include <arch/board/board.h>
+
+#include "imxrt_flexpwm.h"
+#include "teensy-4.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+#ifdef CONFIG_PWM
+
+extern struct pwm_lowerhalf_s *imxrt_pwminitialize(int pwm);
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: imxrt_pwm_setup
+ *
+ * Description:
+ *   Initialize PWM and register the PWM device.
+ *
+ ****************************************************************************/
+
+int imxrt_pwm_setup(void)
+{
+  struct pwm_lowerhalf_s *pwm;
+  int ret;
+
+#ifdef CONFIG_IMXRT_FLEXPWM1
+  /* Call imxrt_pwminitialize() to get an instance of the PWM interface */
+
+  pwm = imxrt_pwminitialize(1);
+  if (!pwm)
+    {
+      aerr("ERROR: Failed to get the IMXRT PWM lower half\n");
+      return -ENODEV;
+    }
+
+  /* Register the PWM driver at "/dev/pwm0" */
+
+  ret = pwm_register("/dev/pwm0", pwm);
+  if (ret < 0)
+    {
+      aerr("ERROR: pwm_register failed: %d\n", ret);
+      return ret;
+    }
+
+#endif
+#ifdef CONFIG_IMXRT_FLEXPWM2
+  /* Call imxrt_pwminitialize() to get an instance of the PWM interface */
+
+  pwm = imxrt_pwminitialize(2);
+  if (!pwm)
+    {
+      aerr("ERROR: Failed to get the IMXRT PWM lower half\n");
+      return -ENODEV;
+    }
+
+  /* Register the PWM driver at "/dev/pwm1" */
+
+  ret = pwm_register("/dev/pwm1", pwm);
+  if (ret < 0)
+    {
+      aerr("ERROR: pwm_register failed: %d\n", ret);
+      return ret;
+    }
+
+#endif
+#ifdef CONFIG_IMXRT_FLEXPWM3
+  /* Call imxrt_pwminitialize() to get an instance of the PWM interface */
+
+  pwm = imxrt_pwminitialize(3);
+  if (!pwm)
+    {
+      aerr("ERROR: Failed to get the IMXRT PWM lower half\n");
+      return -ENODEV;
+    }
+
+  /* Register the PWM driver at "/dev/pwm2" */
+
+  ret = pwm_register("/dev/pwm2", pwm);
+  if (ret < 0)
+    {
+      aerr("ERROR: pwm_register failed: %d\n", ret);
+      return ret;
+    }
+
+#endif
+#ifdef CONFIG_IMXRT_FLEXPWM4
+  /* Call imxrt_pwminitialize() to get an instance of the PWM interface */
+
+  pwm = imxrt_pwminitialize(4);
+  if (!pwm)
+    {
+      aerr("ERROR: Failed to get the IMXRT PWM lower half\n");
+      return -ENODEV;
+    }
+
+  /* Register the PWM driver at "/dev/pwm3" */
+
+  ret = pwm_register("/dev/pwm3", pwm);
+  if (ret < 0)
+    {
+      aerr("ERROR: pwm_register failed: %d\n", ret);
+      return ret;
+    }
+
+#endif
+
+  UNUSED(ret);
+  return OK;
+}
+
+#endif /* CONFIG_PWM */

boards/arm/imxrt/teensy-4.x/src/teensy-4.h

@@ -162,6 +162,18 @@ void imxrt_spidev_initialize(void);
 int imxrt_can_setup(void);
 #endif
 
+/****************************************************************************
+ * Name: imxrt_pwm_setup
+ *
+ * Description:
+ *   Initialize PWM and register the PWM device.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_IMXRT_FLEXPWM
+int imxrt_pwm_setup(void);
+#endif
+
 /****************************************************************************
  * Name: imxrt_adc_initialize
  *