NXP MR-CANHUBK3 Support

ROMFS/cannode/init.d/rcS

@@ -31,6 +31,11 @@ then
 	set PARAM_FILE /dev/eeeprom0
 fi
 
+if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/qspi/params
+then
+	set PARAM_FILE /mnt/qspi/params
+fi
+
 #
 # Load parameters.
 #

boards/nxp/mr-canhubk3/Kconfig

@@ -0,0 +1,4 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#

boards/nxp/mr-canhubk3/default.px4board

@@ -0,0 +1,30 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ROMFSROOT="cannode"
+CONFIG_BOARD_ETHERNET=y
+CONFIG_DRIVERS_BAROMETER_BMP388=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_TEST=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/nxp/mr-canhubk3/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 34,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the ucans32k146 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "UCANS32K146",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/nxp/mr-canhubk3/fmu.px4board

@@ -0,0 +1,53 @@
+# CONFIG_BOARD_ROMFSROOT is not set
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
+CONFIG_COMMON_LIGHT=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IRLOCK=y
+CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
+CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
+CONFIG_DRIVERS_OSD=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_RPM=y
+CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_ESC_BATTERY=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
+CONFIG_MODULES_SIH=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_NETMAN=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_PWM=y
+CONFIG_SYSTEMCMDS_REFLECT=y
+CONFIG_SYSTEMCMDS_SERIAL_TEST=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y

boards/nxp/mr-canhubk3/init/rc.board_defaults

@@ -0,0 +1,17 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+# FIXME TELEM
+
+# Mavlink ethernet (CFG 1000)
+param set-default MAV_1_CONFIG 1000
+param set-default MAV_1_BROADCAST 1
+param set-default MAV_1_MODE 0
+param set-default MAV_1_RADIO_CTL 0
+param set-default MAV_1_RATE 100000
+param set-default MAV_1_REMOTE_PRT 14550
+param set-default MAV_1_UDP_PRT 14550
+
+param set-default SENS_EXT_I2C_PRB 0

boards/nxp/mr-canhubk3/init/rc.board_mavlink

@@ -0,0 +1,4 @@
+#!/bin/sh
+#
+# board specific MAVLink startup script.
+#------------------------------------------------------------------------------

boards/nxp/mr-canhubk3/init/rc.board_sensors

@@ -0,0 +1,29 @@
+#!/bin/sh
+#
+# NXP MR-CANHUBK3 specific board sensors init
+#------------------------------------------------------------------------------
+
+#board_adc start FIXME no ADC drivers
+
+#FMUv5Xbase board orientation
+
+# Internal SPI bus ICM20649
+icm20649 -s -R 6 start
+
+# Internal SPI bus ICM42688p
+icm42688p -R 6 -s start
+
+# Internal magnetometer on I2c
+bmm150 -I start
+
+# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
+ist8310 -X -b 2 -R 10 start
+
+# External compass on GPS1/I2C1 (the 3rd external bus): Drotek RTK GPS with LIS3MDL Compass
+lis3mdl -X -b 2 -R 2 start
+
+# Disable startup of internal baros if param is set to false
+if param compare SENS_INT_BARO_EN 1
+then
+	bmp388 -I -a 0x77 start
+fi

boards/nxp/mr-canhubk3/nuttx-config/Kconfig

@@ -0,0 +1,8 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+if ARCH_BOARD_MR_CANHUBK3
+
+endif # ARCH_BOARD_MR_CANHUBK3

boards/nxp/mr-canhubk3/nuttx-config/include/board.h

@@ -0,0 +1,324 @@
+/****************************************************************************
+ * boards/arm/s32k3xx/mr-canhubk3/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.
+ *
+ ****************************************************************************/
+
+/* Copyright 2022 NXP */
+
+#ifndef __BOARDS_ARM_S32K3XX_MR_CANHUBK3_INCLUDE_BOARD_H
+#define __BOARDS_ARM_S32K3XX_MR_CANHUBK3_INCLUDE_BOARD_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Clocking *****************************************************************/
+
+/* The MR-CANHUBK3 is fitted with a 16 MHz crystal */
+
+#define BOARD_XTAL_FREQUENCY  16000000
+
+/* The S32K344 will run at 160 MHz */
+
+#define MR_CANHUBK3_SYSCLK_FREQUENCY  160000000
+
+/* MX25L QuadSPI Flash ******************************************************/
+
+#ifdef CONFIG_S32K3XX_QSPI
+#  ifdef CONFIG_MTD_MX25RXX
+#    define HAVE_MX25L
+#      ifdef CONFIG_FS_LITTLEFS
+#        define HAVE_MX25L_LITTLEFS
+#      else
+#        ifdef CONFIG_FS_NXFFS
+#          define HAVE_MX25L_NXFFS
+#        else
+#          define HAVE_MX25L_CHARDEV
+#        endif
+#      endif
+#  endif
+#endif
+
+#define MX25L_MTD_MINOR    0
+#define MX25L_SMART_MINOR  0
+
+/* LED definitions **********************************************************/
+
+/* The MR-CANHUBK3 has one RGB LED:
+ *
+ *   RedLED    PTE14  (FXIO D7 / EMIOS0 CH19)
+ *   GreenLED  PTA27  (FXIO D5 / EMIOS1 CH10 / EMIOS2 CH10)
+ *   BlueLED   PTE12  (FXIO D8 / EMIOS1 CH5)
+ *
+ * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in
+ * any way.  The following definitions are used to access individual RGB
+ * components.
+ *
+ * The RGB components could, alternatively be controlled through PWM using
+ * the common RGB LED driver.
+ */
+
+/* LED index values for use with board_userled() */
+
+#define BOARD_LED_R       0
+#define BOARD_LED_G       1
+#define BOARD_LED_B       2
+#define BOARD_NLEDS       3
+
+/* LED bits for use with board_userled_all() */
+
+#define BOARD_LED_R_BIT   (1 << BOARD_LED_R)
+#define BOARD_LED_G_BIT   (1 << BOARD_LED_G)
+#define BOARD_LED_B_BIT   (1 << BOARD_LED_B)
+
+/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the LEDs on board
+ * the MR-CANHUBK3.  The following definitions describe how NuttX controls
+ * the LEDs:
+ *
+ *      SYMBOL            Meaning                         LED state
+ *                                                        RED    GREEN  BLUE
+ *      ----------------  -----------------------------  -------------------
+ */
+
+#define LED_STARTED       1 /* NuttX has been started     OFF    OFF    OFF */
+#define LED_HEAPALLOCATE  2 /* Heap has been allocated    OFF    OFF    ON  */
+#define LED_IRQSENABLED   0 /* Interrupts enabled         OFF    OFF    ON  */
+#define LED_STACKCREATED  3 /* Idle stack created         OFF    ON     OFF */
+#define LED_INIRQ         0 /* In an interrupt           (No change)        */
+#define LED_SIGNAL        0 /* In a signal handler       (No change)        */
+#define LED_ASSERTION     0 /* An assertion failed       (No change)        */
+#define LED_PANIC         4 /* The system has crashed     FLASH  OFF    OFF */
+#undef  LED_IDLE            /* S32K344 is in sleep mode  (Not used)         */
+
+/* Button definitions *******************************************************/
+
+/* The MR-CANHUBK3 supports two buttons:
+ *
+ *   SW1  PTD15  (EIRQ31)
+ *   SW2  PTA25  (EIRQ5 / WKPU34)
+ */
+
+#define BUTTON_SW1        0
+#define BUTTON_SW2        1
+#define NUM_BUTTONS       2
+
+#define BUTTON_SW1_BIT    (1 << BUTTON_SW1)
+#define BUTTON_SW2_BIT    (1 << BUTTON_SW2)
+
+/* UART selections **********************************************************/
+
+/* By default, the serial console will be provided on the DCD-LZ UART
+ * (available on the 7-pin DCD-LZ debug connector P6):
+ *
+ *   DCD-LZ UART RX  PTA8  (LPUART2_RX)
+ *   DCD-LZ UART TX  PTA9  (LPUART2_TX)
+ */
+
+#define PIN_LPUART2_RX    (PIN_LPUART2_RX_1 | PIN_INPUT_PULLUP)   /* PTA8 */
+#define PIN_LPUART2_TX    PIN_LPUART2_TX_1   /* PTA9 */
+
+/* LPUART0   P2 UART (with flow control) connector */
+
+#define PIN_LPUART0_CTS   PIN_LPUART0_CTS_1  /* PTA0 */
+#define PIN_LPUART0_RTS   PIN_LPUART0_RTS_1  /* PTA1 */
+#define PIN_LPUART0_RX    (PIN_LPUART0_RX_1 | PIN_INPUT_PULLUP)   /* PTA2 */
+#define PIN_LPUART0_TX    PIN_LPUART0_TX_1   /* PTA3 */
+
+/* LPUART1   P5 UART (with flow control) connector */
+
+#define PIN_LPUART1_CTS   PIN_LPUART1_CTS_2  /* PTE2 */
+#define PIN_LPUART1_RTS   PIN_LPUART1_RTS_2  /* PTE6 */
+#define PIN_LPUART1_RX    (PIN_LPUART1_RX_3 | PIN_INPUT_PULLUP)   /* PTC6 */
+#define PIN_LPUART1_TX    PIN_LPUART1_TX_3   /* PTC7 */
+
+/* LPUART9   P24 UART connector */
+
+#define PIN_LPUART9_RX    (PIN_LPUART9_RX_1 | PIN_INPUT_PULLUP)   /* PTB2 */
+#define PIN_LPUART9_TX    PIN_LPUART9_TX_1   /* PTB3 */
+
+/* LPUART10  P24 UART connector */
+
+#define PIN_LPUART10_RX   (PIN_LPUART10_RX_1 | PIN_INPUT_PULLUP)  /* PTC12 */
+#define PIN_LPUART10_TX   PIN_LPUART10_TX_1  /* PTC13 */
+
+/* LPUART13  P25 UART connector */
+
+#define PIN_LPUART13_RX   (PIN_LPUART13_RX_1 | PIN_INPUT_PULLUP)  /* PTB19 */
+#define PIN_LPUART13_TX   PIN_LPUART13_TX_1  /* PTB18 */
+
+/* LPUART14  P25 UART connector */
+
+#define PIN_LPUART14_RX   (PIN_LPUART14_RX_1 | PIN_INPUT_PULLUP)  /* PTB21 */
+#define PIN_LPUART14_TX   PIN_LPUART14_TX_1  /* PTB20 */
+
+/* SPI selections ***********************************************************/
+
+/* LPSPI1  P1A external SPI connector */
+
+#define PIN_LPSPI1_SCK    PIN_LPSPI1_SCK_3   /* PTA28 */
+#define PIN_LPSPI1_MISO   PIN_LPSPI1_SOUT_2  /* PTA30 */
+#define PIN_LPSPI1_MOSI   PIN_LPSPI1_SIN_3   /* PTA29 */
+#define PIN_LPSPI1_PCS0   PIN_LPSPI1_PCS0_2  /* PTA21 */
+#define PIN_LPSPI1_PCS1   PIN_LPSPI1_PCS1_6  /* PTE4  */
+
+#define PIN_LPSPI1_PCS    (PIN_PTA21 | GPIO_LOWDRIVE | GPIO_OUTPUT_ONE)  /* PTA21 */
+
+/* LPSPI2  P1B external SPI connector */
+
+#define PIN_LPSPI2_SCK    PIN_LPSPI2_SCK_1   /* PTB29 */
+#define PIN_LPSPI2_MISO   PIN_LPSPI2_SOUT_3  /* PTB27 */
+#define PIN_LPSPI2_MOSI   PIN_LPSPI2_SIN_2   /* PTB28 */
+#define PIN_LPSPI2_PCS0   PIN_LPSPI2_PCS0_2  /* PTB25 */
+#define PIN_LPSPI2_PCS1   PIN_LPSPI2_PCS1_3  /* PTC19 */
+
+#define PIN_LPSPI2_PCS    (PIN_PTB25 | GPIO_LOWDRIVE | GPIO_OUTPUT_ONE)  /* PTB25 */
+
+/* LPSPI3  FS26 Safety SBC */
+
+#define PIN_LPSPI3_SCK    PIN_LPSPI3_SCK_2   /* PTD1  */
+#define PIN_LPSPI3_MISO   PIN_LPSPI3_SOUT_2  /* PTD0  */
+#define PIN_LPSPI3_MOSI   PIN_LPSPI3_SIN_3   /* PTE10 */
+#define PIN_LPSPI3_PCS    (PIN_PTD17 | GPIO_LOWDRIVE | GPIO_OUTPUT_ONE) /* PTD17 */
+
+/* LPSPI4  P8B I/O connector / P26 external IMU connector */
+
+#define PIN_LPSPI4_SCK    PIN_LPSPI4_SCK_1   /* PTB10 */
+#define PIN_LPSPI4_MISO   PIN_LPSPI4_SOUT_1  /* PTB9  */
+#define PIN_LPSPI4_MOSI   PIN_LPSPI4_SIN_1   /* PTB11 */
+#define PIN_LPSPI4_PCS0   PIN_LPSPI4_PCS0_1  /* PTB8  */
+#define PIN_LPSPI4_PCS3   PIN_LPSPI4_PCS3_1  /* PTA16 */
+
+#define PIN_LPSPI4_PCS    (PIN_PTA16 | GPIO_LOWDRIVE | GPIO_OUTPUT_ONE)  /* PTA16 */
+
+/* LPSPI5  P26 external IMU connector */
+
+#define PIN_LPSPI5_SCK    PIN_LPSPI5_SCK_3   /* PTD26 */
+#define PIN_LPSPI5_MISO   PIN_LPSPI5_SOUT_2  /* PTD27 */
+#define PIN_LPSPI5_MOSI   PIN_LPSPI5_SIN_3   /* PTD28 */
+#define PIN_LPSPI5_PCS1   PIN_LPSPI5_PCS1_1  /* PTA14 */
+
+#define PIN_LPSPI5_PCS    (PIN_PTA14 | GPIO_LOWDRIVE | GPIO_OUTPUT_ONE)  /* PTA14 */
+
+/*      PIN_LPSPI5_PCS2                         PTD29 */
+
+/* I2C selections ***********************************************************/
+
+/* LPI2C0  P4 LCD header / P26 external IMU connector */
+
+#define PIN_LPI2C0_SCL    PIN_LPI2C0_SCL_2   /* PTD14 */
+#define PIN_LPI2C0_SDA    PIN_LPI2C0_SDA_2   /* PTD13 */
+
+/* LPI2C1  P3 external I2C connector / SE050 EdgeLock Secure Element */
+
+#define PIN_LPI2C1_SCL    PIN_LPI2C1_SCL_4   /* PTD9 */
+#define PIN_LPI2C1_SDA    PIN_LPI2C1_SDA_4   /* PTD8 */
+
+/* CAN selections ***********************************************************/
+
+/* CAN0  TJA1443 CAN transceiver */
+
+#define PIN_CAN0_RX       PIN_CAN0_RX_1      /* PTA6 */
+#define PIN_CAN0_TX       PIN_CAN0_TX_1      /* PTA7 */
+#define PIN_CAN0_STB      (PIN_PTC21 | GPIO_OUTPUT)
+#define CAN0_STB_OUT      1
+#define PIN_CAN0_ENABLE   (PIN_PTC24 | GPIO_OUTPUT)
+#define CAN0_ENABLE_OUT   1
+#define PIN_CAN0_LED      (PIN_PTC18 | GPIO_OUTPUT)
+#define CAN0_LED_OUT      0
+#define PIN_CAN0_ERRN     (PIN_PTC20 | GPIO_INPUT)
+
+/* CAN1  TJA1443 CAN transceiver */
+
+#define PIN_CAN1_RX       PIN_CAN1_RX_4      /* PTC9 */
+#define PIN_CAN1_TX       PIN_CAN1_TX_4      /* PTC8 */
+#define PIN_CAN1_STB      (PIN_PTD2  | GPIO_OUTPUT)
+#define CAN1_STB_OUT      1
+#define PIN_CAN1_ENABLE   (PIN_PTD23 | GPIO_OUTPUT)
+#define CAN1_ENABLE_OUT   1
+#define PIN_CAN1_LED      (PIN_PTE5  | GPIO_OUTPUT)
+#define CAN1_LED_OUT      0
+#define PIN_CAN1_ERRN     (PIN_PTD3  | GPIO_INPUT)
+
+/* CAN2  TJA1463 CAN transceiver */
+
+#define PIN_CAN2_RX       PIN_CAN2_RX_5      /* PTE25 */
+#define PIN_CAN2_TX       PIN_CAN2_TX_5      /* PTE24 */
+#define PIN_CAN2_STB      (PIN_PTD22 | GPIO_OUTPUT)
+#define CAN2_STB_OUT      1
+#define PIN_CAN2_ENABLE   (PIN_PTD4  | GPIO_OUTPUT)
+#define CAN2_ENABLE_OUT   1
+#define PIN_CAN2_LED      (PIN_PTD20 | GPIO_OUTPUT)
+#define CAN2_LED_OUT      0
+#define PIN_CAN2_ERRN     (PIN_PTD21 | GPIO_INPUT)
+
+/* CAN3  TJA1463 CAN transceiver */
+
+#define PIN_CAN3_RX       PIN_CAN3_RX_2      /* PTC29 */
+#define PIN_CAN3_TX       PIN_CAN3_TX_2      /* PTC28 */
+#define PIN_CAN3_STB      (PIN_PTB1  | GPIO_OUTPUT)
+#define CAN3_STB_OUT      1
+#define PIN_CAN3_ENABLE   (PIN_PTB0  | GPIO_OUTPUT)
+#define CAN3_ENABLE_OUT   1
+#define PIN_CAN3_LED      (PIN_PTB24 | GPIO_OUTPUT)
+#define CAN3_LED_OUT      0
+#define PIN_CAN3_ERRN     (PIN_PTC27 | GPIO_INPUT)
+
+/* CAN4  TJA1153 CAN transceiver */
+
+#define PIN_CAN4_RX       PIN_CAN4_RX_2      /* PTC31 */
+#define PIN_CAN4_TX       PIN_CAN4_TX_2      /* PTC30 */
+#define PIN_CAN4_STB      (PIN_PTC25 | GPIO_OUTPUT)
+#define CAN4_STB_OUT      0
+#define PIN_CAN4_ENABLE   (PIN_PTC26 | GPIO_OUTPUT)
+#define CAN4_ENABLE_OUT   1
+#define PIN_CAN4_LED      (PIN_PTB26 | GPIO_OUTPUT)
+#define CAN4_LED_OUT      0
+#define PIN_CAN4_ERRN     (PIN_PTC23 | GPIO_INPUT)
+
+/* CAN5  TJA1153 CAN transceiver */
+
+#define PIN_CAN5_RX       PIN_CAN5_RX_1      /* PTC11 */
+#define PIN_CAN5_TX       PIN_CAN5_TX_1      /* PTC10 */
+#define PIN_CAN5_STB      (PIN_PTE17 | GPIO_OUTPUT)
+#define CAN5_STB_OUT      0
+#define PIN_CAN5_ENABLE   (PIN_PTD30 | GPIO_OUTPUT)
+#define CAN5_ENABLE_OUT   1
+#define PIN_CAN5_LED      (PIN_PTD31 | GPIO_OUTPUT)
+#define CAN5_LED_OUT      0
+#define PIN_CAN5_ERRN     (PIN_PTD24 | GPIO_INPUT)
+
+/* ENET selections **********************************************************/
+
+#define PIN_EMAC_MII_RMII_TXD0    PIN_EMAC_MII_RMII_TXD0_1     /* PTB5  */
+#define PIN_EMAC_MII_RMII_TXD1    PIN_EMAC_MII_RMII_TXD1_1     /* PTB4  */
+#define PIN_EMAC_MII_RMII_TX_EN   PIN_EMAC_MII_RMII_TX_EN_3    /* PTE9  */
+#define PIN_EMAC_MII_RMII_RXD0    PIN_EMAC_MII_RMII_RXD0_1     /* PTC0  */
+#define PIN_EMAC_MII_RMII_RXD1    PIN_EMAC_MII_RMII_RXD1_2     /* PTC1  */
+#define PIN_EMAC_MII_RMII_RX_DV   PIN_EMAC_MII_RMII_RX_DV_1    /* PTC15 */
+#define PIN_EMAC_MII_RMII_RX_ER   PIN_EMAC_MII_RMII_RX_ER_1    /* PTC14 */
+#define PIN_EMAC_MII_RMII_MDC     PIN_EMAC_MII_RMII_MDC_3      /* PTC8  */
+#define PIN_EMAC_MII_RMII_MDIO    PIN_EMAC_MII_RMII_MDIO_2     /* PTD16 */
+#define PIN_EMAC_MII_RMII_TX_CLK  PIN_EMAC_MII_RMII_TX_CLK_2   /* PTD6 */
+
+#endif  /* __BOARDS_ARM_S32K3XX_MR_CANHUBK3_INCLUDE_BOARD_H */

boards/nxp/mr-canhubk3/nuttx-config/nsh/defconfig

@@ -0,0 +1,247 @@
+#
+# 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_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_ARP is not set
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXPORT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_IFCONFIG is not set
+# CONFIG_NSH_DISABLE_IFUPDOWN is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_NSLOOKUP is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_RM is not set
+# CONFIG_NSH_DISABLE_RMDIR is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_SET is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_TELNETD is not set
+# CONFIG_NSH_DISABLE_TEST is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_NSH_DISABLE_UMOUNT is not set
+# CONFIG_NSH_DISABLE_UNSET is not set
+# CONFIG_NSH_DISABLE_USLEEP is not set
+# CONFIG_SPI_CALLBACK is not set
+CONFIG_ALLOW_GPL_COMPONENTS=y
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/nxp/mr-canhubk3/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="s32k3xx"
+CONFIG_ARCH_CHIP_S32K344=y
+CONFIG_ARCH_CHIP_S32K3XX=y
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DCACHE_WRITETHROUGH=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_LOOPSPERMSEC=14539
+CONFIG_BUILTIN=y
+CONFIG_DEBUG_BUSFAULT=y
+CONFIG_DEBUG_ERROR=y
+CONFIG_DEBUG_FEATURES=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS26_SPI_FREQUENCY=5000000
+CONFIG_FSUTILS_IPCFG=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=800
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_IOB_NBUFFERS=24
+CONFIG_IOB_THROTTLE=0
+CONFIG_IPCFG_BINARY=y
+CONFIG_IPCFG_CHARDEV=y
+CONFIG_IPCFG_PATH="/fs/qspi/mtd_net"
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_LPI2C0_DMA=y
+CONFIG_LPI2C1_DMA=y
+CONFIG_LPUART2_SERIAL_CONSOLE=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SPICLOCK=7500000
+CONFIG_MM_REGIONS=2
+CONFIG_MTD=y
+CONFIG_MTD_MX25RXX=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_PARTITION_NAMES=y
+CONFIG_MX25RXX_LXX=y
+CONFIG_MX25RXX_PAGE128=y
+CONFIG_MX25RXX_QSPI_FREQUENCY=80000000
+CONFIG_NET=y
+CONFIG_NETDB_DNSCLIENT=y
+CONFIG_NETDB_DNSCLIENT_ENTRIES=8
+CONFIG_NETDB_DNSSERVER_NOADDR=y
+CONFIG_NETDEV_LATEINIT=y
+CONFIG_NETINIT_DHCPC=y
+CONFIG_NETINIT_DNS=y
+CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
+CONFIG_NETINIT_DRIPADDR=0XC0A800FE
+CONFIG_NETINIT_THREAD=y
+CONFIG_NETINIT_THREAD_PRIORITY=49
+CONFIG_NETUTILS_TELNETD=y
+CONFIG_NET_ARP_IPIN=y
+CONFIG_NET_ARP_SEND=y
+CONFIG_NET_BROADCAST=y
+CONFIG_NET_CAN=y
+CONFIG_NET_CAN_RAW_FILTER_MAX=1
+CONFIG_NET_CAN_SOCK_OPTS=y
+CONFIG_NET_ETH_PKTSIZE=1518
+CONFIG_NET_ICMP=y
+CONFIG_NET_ICMP_SOCKET=y
+CONFIG_NET_SOLINGER=y
+CONFIG_NET_TCP=y
+CONFIG_NET_TCPBACKLOG=y
+CONFIG_NET_TCP_DELAYED_ACK=y
+CONFIG_NET_TCP_WRITE_BUFFERS=y
+CONFIG_NET_UDP=y
+CONFIG_NET_UDP_CHECKSUMS=y
+CONFIG_NET_UDP_WRITE_BUFFERS=y
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_MMCSDSPIPORTNO=1
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_TELNET=y
+CONFIG_NSH_TELNET_LOGIN=y
+CONFIG_NSH_VARS=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=272000
+CONFIG_RAM_START=0x20400000
+CONFIG_RAW_BINARY=y
+CONFIG_S32K3XX_DTCM_HEAP=y
+CONFIG_S32K3XX_EDMA=y
+CONFIG_S32K3XX_EDMA_EDBG=y
+CONFIG_S32K3XX_EDMA_NTCD=64
+CONFIG_S32K3XX_EIRQINTS=y
+CONFIG_S32K3XX_ENET=y
+CONFIG_S32K3XX_ENET_NTXBUFFERS=4
+CONFIG_S32K3XX_FLEXCAN0=y
+CONFIG_S32K3XX_FLEXCAN1=y
+CONFIG_S32K3XX_FLEXCAN2=y
+CONFIG_S32K3XX_FLEXCAN3=y
+CONFIG_S32K3XX_FS26=y
+CONFIG_S32K3XX_GPIOIRQ=y
+CONFIG_S32K3XX_LPI2C0=y
+CONFIG_S32K3XX_LPI2C1=y
+CONFIG_S32K3XX_LPI2C_DMA=y
+CONFIG_S32K3XX_LPSPI1=y
+CONFIG_S32K3XX_LPSPI1_PINCFG=3
+CONFIG_S32K3XX_LPSPI2=y
+CONFIG_S32K3XX_LPSPI2_DMA=y
+CONFIG_S32K3XX_LPSPI2_PINCFG=3
+CONFIG_S32K3XX_LPSPI3=y
+CONFIG_S32K3XX_LPSPI3_PINCFG=3
+CONFIG_S32K3XX_LPSPI4=y
+CONFIG_S32K3XX_LPSPI4_PINCFG=3
+CONFIG_S32K3XX_LPSPI5=y
+CONFIG_S32K3XX_LPSPI5_DMA=y
+CONFIG_S32K3XX_LPSPI5_PINCFG=3
+CONFIG_S32K3XX_LPSPI_DMA=y
+CONFIG_S32K3XX_LPUART0=y
+CONFIG_S32K3XX_LPUART10=y
+CONFIG_S32K3XX_LPUART13=y
+CONFIG_S32K3XX_LPUART14=y
+CONFIG_S32K3XX_LPUART1=y
+CONFIG_S32K3XX_LPUART2=y
+CONFIG_S32K3XX_LPUART9=y
+CONFIG_S32K3XX_LPUART_INVERT=y
+CONFIG_S32K3XX_LPUART_SINGLEWIRE=y
+CONFIG_S32K3XX_QSPI=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1768
+CONFIG_SCHED_WAITPID=y
+CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=256
+CONFIG_SYSTEM_DHCPC_RENEW=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_SYSTEM_PING=y
+CONFIG_TASK_NAME_SIZE=24

boards/nxp/mr-canhubk3/nuttx-config/scripts/script.ld

@@ -0,0 +1,162 @@
+/****************************************************************************
+ * boards/arm/s32k3xx/mr-canhubk3/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.
+ *
+ ****************************************************************************/
+
+/* Copyright 2022 NXP */
+
+/* TO DO: ADD DESCRIPTION
+ *
+ *   0x00400000 - 0x007fffff  4194304  Program Flash (last 64K sBAF)
+ *   0x10000000 - 0x1003ffff   262144  Data Flash (last 32K HSE_NVM)
+ *   0x20400000 - 0x20408000    32768  Standby RAM_0 (32K)
+ *   0x20400000 - 0x20427fff   163840  SRAM_0
+ *   0x20428000 - 0x2044ffff   163840  SRAM_1
+ *
+ *   Last  48 KB of SRAM_1 reserved by HSE Firmware
+ *   Last 128 KB of CODE_FLASH_3 reserved by HSE Firmware
+ *   Last 128 KB of DATA_FLASH reserved by HSE Firmware (not supported in this linker file)
+ *
+ *   Note Standby RAM and SRAM overlaps in NuttX since we dont use the Standby functionality
+ *
+ */
+
+MEMORY
+{
+  BOOT_HEADER (R)   : ORIGIN = 0x00400000, LENGTH = 0x00001000  /* 0x00400000 - 0x00400fff */
+  flash       (rx)  : ORIGIN = 0x00401000, LENGTH = 0x003cffff  /* 0x00401000 - (0x007fffff - 0x20000 (128 KB) = 0x007dffff) */
+  sram0_stdby (rwx) : ORIGIN = 0x20400000, LENGTH = 32K
+  sram        (rwx) : ORIGIN = 0x20400000, LENGTH = 272K
+  itcm        (rwx) : ORIGIN = 0x00000000, LENGTH = 64K
+  dtcm        (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+EXTERN(boot_header)
+ENTRY(_stext)
+
+SECTIONS
+{
+
+  .boot_header :
+  {
+    KEEP(*(.boot_header))
+  } > BOOT_HEADER
+
+  .text :
+  {
+    _stext = ABSOLUTE(.);
+    *(.vectors)
+    *(.text.__start)
+    *(.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(.);
+    KEEP(*(.init_array .init_array.*))
+    _einit = ABSOLUTE(.);
+  } > flash
+
+  .ARM.extab :
+  {
+    *(.ARM.extab*)
+  } >flash
+
+  .ARM.exidx :
+  {
+    __exidx_start = ABSOLUTE(.);
+    *(.ARM.exidx*)
+    __exidx_end = ABSOLUTE(.);
+  } >flash
+
+  /* Due ECC initialization sequence __data_start__ and __data_end__ should be aligned on 8 bytes */
+  .data :
+  {
+    . = ALIGN(8);
+    _sdata = ABSOLUTE(.);
+    *(.data .data.*)
+    *(.gnu.linkonce.d.*)
+    CONSTRUCTORS
+    . = ALIGN(8);
+    _edata = ABSOLUTE(.);
+  } > sram AT > flash
+
+  _eronly = LOADADDR(.data);
+
+  .ramfunc ALIGN(8):
+  {
+    _sramfuncs = ABSOLUTE(.);
+    *(.ramfunc  .ramfunc.*)
+    _eramfuncs = ABSOLUTE(.);
+  } > sram AT > flash
+
+  _framfuncs = LOADADDR(.ramfunc);
+
+  /* Due ECC initialization sequence __bss_start__ and __bss_end__ should be aligned on 8 bytes */
+  .bss :
+  {
+    . = ALIGN(8);
+    _sbss = ABSOLUTE(.);
+    *(.bss .bss.*)
+    *(.gnu.linkonce.b.*)
+    *(COMMON)
+    . = ALIGN(8);
+    _ebss = ABSOLUTE(.);
+  } > sram
+
+  CM7_0_START_ADDRESS = ORIGIN(flash);
+
+  /* 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) }
+
+  SRAM_BASE_ADDR         = ORIGIN(sram);
+  SRAM_END_ADDR          = ORIGIN(sram) + LENGTH(sram);
+  SRAM_STDBY_BASE_ADDR   = ORIGIN(sram0_stdby);
+  SRAM_STDBY_END_ADDR    = ORIGIN(sram0_stdby) + LENGTH(sram0_stdby);
+  SRAM_INIT_END_ADDR     = ORIGIN(sram) + 320K;
+  ITCM_BASE_ADDR         = ORIGIN(itcm);
+  ITCM_END_ADDR          = ORIGIN(itcm) + LENGTH(itcm);
+  DTCM_BASE_ADDR         = ORIGIN(dtcm);
+  DTCM_END_ADDR          = ORIGIN(dtcm) + LENGTH(dtcm);
+  FLASH_BASE_ADDR        = ORIGIN(BOOT_HEADER);
+  FLASH_END_ADDR         = ORIGIN(flash) + LENGTH(flash);
+}

boards/nxp/mr-canhubk3/src/CMakeLists.txt

@@ -0,0 +1,78 @@
+############################################################################
+#
+#   Copyright (c) 2016, 2018 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
+
+	add_library(drivers_board
+		can_boot.c
+		led.cpp
+		clockconfig.c
+		periphclocks.c
+		timer_config.cpp
+	)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch
+			nuttx_drivers
+			canbootloader
+			arch_io_pins
+			arch_led_pwm
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
+
+else()
+
+	add_library(drivers_board
+		s32k3xx_autoleds.c
+		s32k3xx_boot.c
+		s32k3xx_bringup.c
+		s32k3xx_buttons.c
+		s32k3xx_clockconfig.c
+		i2c.cpp
+		init.c
+		mtd.cpp
+		s32k3xx_periphclocks.c
+		spi.cpp
+		timer_config.cpp
+		s32k3xx_userleds.c
+	)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch # sdio
+			nuttx_drivers # sdio
+			drivers__led # drv_led_start
+			px4_layer
+			arch_io_pins
+		)
+endif()

boards/nxp/mr-canhubk3/src/board_config.h

@@ -0,0 +1,200 @@
+/****************************************************************************
+ * boards/arm/s32k3xx/mr-canhubk3/src/board_config.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.
+ *
+ ****************************************************************************/
+
+/* Copyright 2022 NXP */
+
+#pragma once
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <stdint.h>
+
+__BEGIN_DECLS
+
+#include "hardware/s32k344_pinmux.h"
+#include "s32k3xx_periphclocks.h"
+#include "s32k3xx_pin.h"
+#include <arch/board/board.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+#define HRT_TIMER              1  /* FIXME */
+
+/* MR-CANHUBK3 GPIOs ********************************************************/
+
+/* LEDs.  The MR-CANHUBK3 has one RGB LED:
+ *
+ *   RedLED    PTE14  (FXIO D7 / EMIOS0 CH19)
+ *   GreenLED  PTA27  (FXIO D5 / EMIOS1 CH10 / EMIOS2 CH10)
+ *   BlueLED   PTE12  (FXIO D8 / EMIOS1 CH5)
+ *
+ * An output of '0' illuminates the LED.
+ */
+
+#define GPIO_LED_R     (PIN_EMIOS0_CH19_4)
+#define GPIO_LED_G     (PIN_EMIOS1_CH10_1)
+#define GPIO_LED_B     (PIN_EMIOS1_CH5_3)
+
+/* Buttons.  The MR-CANHUBK3 supports two buttons:
+ *
+ *   SW1  PTD15  (EIRQ31)
+ *   SW2  PTA25  (EIRQ5 / WKPU34)
+ */
+
+#define GPIO_SW1       (PIN_EIRQ31_2 | PIN_INT_BOTH)  /* PTD15 */
+#define GPIO_SW2       (PIN_EIRQ5_2  | PIN_INT_BOTH)  /* PTA25 */
+
+/*
+ * I2C busses
+ */
+#define PX4_I2C_BUS_ONBOARD_HZ      400000
+#define PX4_I2C_BUS_EXPANSION_HZ      400000
+
+#define PX4_I2C_BUS_MTD	1
+
+#define BOARD_NUMBER_I2C_BUSES  2
+
+/* Count of peripheral clock user configurations */
+
+#define NUM_OF_PERIPHERAL_CLOCKS_0 28
+
+/* Timer I/O PWM and capture */
+
+#define DIRECT_PWM_OUTPUT_CHANNELS  8
+
+#define RC_SERIAL_PORT          "/dev/ttyS5"
+#define RC_SERIAL_SINGLEWIRE
+#define RC_SERIAL_INVERT_RX_ONLY
+
+#define BOARD_ENABLE_CONSOLE_BUFFER
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/* User peripheral configuration structure 0 */
+
+extern const struct peripheral_clock_config_s g_peripheral_clockconfig0[NUM_OF_PERIPHERAL_CLOCKS_0];
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+
+/************************************************************************************
+ * Name: s32k3xx_spidev_initialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the NXP MR-CANHUB board.
+ *
+ ************************************************************************************/
+
+void s32k3xx_spidev_initialize(void);
+
+/************************************************************************************
+ * Name: s32k3xx_spi_bus_initialize
+ *
+ * Description:
+ *   Called to configure SPI Buses.
+ *
+ ************************************************************************************/
+
+int  s32k3xx_spi_bus_initialize(void);
+
+
+/****************************************************************************
+ * Name: s32k3xx_bringup
+ *
+ * Description:
+ *   Perform architecture-specific initialization
+ *
+ *   CONFIG_BOARD_LATE_INITIALIZE=y :
+ *     Called from board_late_initialize().
+ *
+ *   CONFIG_BOARD_LATE_INITIALIZE=y && CONFIG_BOARDCTL=y :
+ *     Called from the NSH library
+ *
+ ****************************************************************************/
+
+int s32k3xx_bringup(void);
+
+/****************************************************************************
+ * Name: s32k3xx_i2cdev_initialize
+ *
+ * Description:
+ *   Initialize I2C driver and register /dev/i2cN devices.
+ *
+ ****************************************************************************/
+
+int s32k3xx_i2cdev_initialize(void);
+
+/****************************************************************************
+ * Name: s32k3xx_spidev_initialize
+ *
+ * Description:
+ *   Configure chip select pins, initialize the SPI driver and register
+ *   /dev/spiN devices.
+ *
+ ****************************************************************************/
+
+void s32k3xx_spidev_initialize(void);
+
+/****************************************************************************
+ * Name: s32k3xx_tja1153_initialize
+ *
+ * Description:
+ *   Initialize a TJA1153 CAN PHY connected to a FlexCAN peripheral (0-5)
+ *
+ ****************************************************************************/
+
+int s32k3xx_tja1153_initialize(int bus);
+
+/****************************************************************************
+ * Name: s32k3xx_selftest
+ *
+ * Description:
+ *   Runs basic routines to verify that all board components are up and
+ *   running.  Results are send to the syslog, it is recommended to
+ *   enable all output levels (error, warning and info).
+ *
+ ****************************************************************************/
+
+void s32k3xx_selftest(void);
+
+extern void board_peripheral_reset(int ms);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS

boards/nxp/mr-canhubk3/src/i2c.cpp

@@ -0,0 +1,39 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusInternal(PX4_BUS_NUMBER_TO_PX4(0)),
+	initI2CBusExternal(PX4_BUS_NUMBER_TO_PX4(1)),
+};

boards/nxp/mr-canhubk3/src/init.c

@@ -0,0 +1,163 @@
+/****************************************************************************
+ * boards/arm/s32k1xx/ucans32k146/src/s32k1xx_appinit.c
+ *
+ *   Copyright (C) 2019 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <nuttx/board.h>
+
+#include "board_config.h"
+
+#include <px4_platform_common/init.h>
+
+#if defined(CONFIG_S32K3XX_LPSPI1) && defined(CONFIG_MMCSD)
+#include <nuttx/mmcsd.h>
+#endif
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#ifndef OK
+#  define OK 0
+#endif
+
+/****************************************************************************
+ * 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 cold 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.
+ *
+ ****************************************************************************/
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+#ifdef CONFIG_BOARD_LATE_INITIALIZE
+	/* Board initialization already performed by board_late_initialize() */
+
+	return OK;
+#else
+
+	int rv;
+
+
+#if defined(CONFIG_S32K3XX_LPSPI1) && defined(CONFIG_MMCSD)
+	/* LPSPI1 *****************************************************************/
+
+	/* Configure LPSPI1 peripheral chip select */
+
+	s32k3xx_pinconfig(PIN_LPSPI2_PCS);
+
+	/* Initialize the SPI driver for LPSPI1 */
+
+	struct spi_dev_s *g_lpspi2 = s32k3xx_lpspibus_initialize(2);
+
+	if (g_lpspi2 == NULL) {
+		spierr("ERROR: FAILED to initialize LPSPI2\n");
+		return -ENODEV;
+	}
+
+	rv = mmcsd_spislotinitialize(0, 0, g_lpspi2);
+
+	if (rv < 0) {
+		mcerr("ERROR: Failed to bind SPI port %d to SD slot %d\n",
+		      1, 0);
+		return rv;
+	}
+
+#endif
+
+	px4_platform_init();
+
+	/* Perform board-specific initialization */
+
+	rv = s32k3xx_bringup();
+
+	/* Configure SPI-based devices */
+
+#ifdef CONFIG_SPI
+	s32k3xx_spi_bus_initialize();
+#endif
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
+	return rv;
+#endif
+}
+
+/************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *
+ ************************************************************************************/
+__EXPORT void board_peripheral_reset(int ms)
+{
+	/* set the peripheral rails off */
+
+	/* wait for the peripheral rail to reach GND */
+	usleep(ms * 1000);
+	syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
+
+	/* re-enable power */
+
+	/* switch the peripheral rail back on */
+}

boards/nxp/mr-canhubk3/src/mtd.cpp

@@ -0,0 +1,100 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <nuttx/spi/spi.h>
+#include <px4_platform_common/px4_manifest.h>
+//                                                              KiB BS    nB
+static const px4_mft_device_t qspi_flash = {            // 8MB QSPI flash with NXFFS
+	.bus_type = px4_mft_device_t::ONCHIP,
+};
+
+static const px4_mft_device_t i2c0 = {             // 24LC64T on IMU   8K 32 X 256
+	.bus_type =  px4_mft_device_t::I2C,
+	.devid    =  PX4_MK_I2C_DEVID(1, 0x50)
+};
+
+
+static const px4_mtd_entry_t fmum_qspi_flash = {
+	.device = &qspi_flash,
+	.npart = 1,
+	.partd = {
+		{
+			.type = MTD_PARAMETERS,
+			.path = "/mnt/qspi/params",
+			.nblocks = 1
+		}
+	},
+};
+
+static const px4_mtd_entry_t imu_eeprom = {
+	.device = &i2c0,
+	.npart = 2,
+	.partd = {
+		{
+			.type = MTD_CALDATA,
+			.path = "/fs/mtd_caldata",
+			.nblocks = 248
+		},
+		{
+			.type = MTD_ID,
+			.path = "/fs/mtd_id",
+			.nblocks = 8 // 256 = 32 * 8
+		}
+	},
+};
+
+
+static const px4_mtd_manifest_t board_mtd_config = {
+	.nconfigs   = 2,
+	.entries = {
+		&imu_eeprom,
+		&fmum_qspi_flash
+	}
+};
+
+static const px4_mft_entry_s mtd_mft = {
+	.type = MTD,
+	.pmft = (void *) &board_mtd_config,
+};
+
+static const px4_mft_s mft = {
+	.nmft = 1,
+	.mfts = {
+		&mtd_mft
+	}
+};
+
+const px4_mft_s *board_get_manifest(void)
+{
+	return &mft;
+}

boards/nxp/mr-canhubk3/src/s32k3xx_appinit.c

@@ -0,0 +1,74 @@
+/****************************************************************************
+ * boards/arm/s32k3xx/mr-canhubk3/src/s32k3xx_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.
+ *
+ ****************************************************************************/
+
+/* Copyright 2022 NXP */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+
+#include <stdint.h>
+
+#include "board_config.h"
+
+/****************************************************************************
+ * 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 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)
+{
+#ifdef CONFIG_BOARD_LATE_INITIALIZE
+	/* Board initialization already performed by board_late_initialize() */
+
+	return OK;
+#else
+	/* Perform board-specific initialization */
+
+	return s32k3xx_bringup();
+#endif
+}

boards/nxp/mr-canhubk3/src/s32k3xx_autoleds.c

@@ -0,0 +1,147 @@
+/****************************************************************************
+ * boards/arm/s32k3xx/mr-canhubk3/src/s32k3xx_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.
+ *
+ ****************************************************************************/
+
+/* Copyright 2022 NXP */
+
+/* The MR-CANHUBK3 has one RGB LED:
+ *
+ *   RedLED    PTE14  (FXIO D7 / EMIOS0 CH19)
+ *   GreenLED  PTA27  (FXIO D5 / EMIOS1 CH10 / EMIOS2 CH10)
+ *   BlueLED   PTE12  (FXIO D8 / EMIOS1 CH5)
+ *
+ * An output of '0' illuminates the LED.
+ *
+ * If CONFIG_ARCH_LEDs is defined, then NuttX will control the LED on board
+ * the MR-CANHUBK3.  The following definitions describe how NuttX controls
+ * the LEDs:
+ *
+ *   SYMBOL            Meaning                    LED state
+ *                                                RED    GREEN  BLUE
+ *   ----------------  ------------------------  --------------------
+ *   LED_STARTED       NuttX has been started     OFF    OFF    OFF
+ *   LED_HEAPALLOCATE  Heap has been allocated    OFF    OFF    ON
+ *   LED_IRQSENABLED   Interrupts enabled         OFF    OFF    ON
+ *   LED_STACKCREATED  Idle stack created         OFF    ON     OFF
+ *   LED_INIRQ         In an interrupt           (No change)
+ *   LED_SIGNAL        In a signal handler       (No change)
+ *   LED_ASSERTION     An assertion failed       (No change)
+ *   LED_PANIC         The system has crashed     FLASH  OFF    OFF
+ *   LED_IDLE          S32K344 is in sleep mode  (Optional, not used)
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#include <nuttx/board.h>
+
+#include "s32k3xx_pin.h"
+
+#include "board_config.h"
+
+#ifdef CONFIG_ARCH_LEDS
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Summary of all possible settings */
+
+#define LED_NOCHANGE     0 /* LED_IRQSENABLED, LED_INIRQ, LED_SIGNAL, LED_ASSERTION */
+#define LED_OFF_OFF_OFF  1 /* LED_STARTED */
+#define LED_OFF_OFF_ON   2 /* LED_HEAPALLOCATE */
+#define LED_OFF_ON_OFF   3 /* LED_STACKCREATED */
+#define LED_ON_OFF_OFF   4 /* LED_PANIC */
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_autoled_initialize
+ ****************************************************************************/
+
+void board_autoled_initialize(void)
+{
+	/* Configure LED GPIOs for output */
+
+	s32k3xx_pinconfig(GPIO_LED_R);
+	s32k3xx_pinconfig(GPIO_LED_G);
+	s32k3xx_pinconfig(GPIO_LED_B);
+}
+
+/****************************************************************************
+ * Name: board_autoled_on
+ ****************************************************************************/
+
+void board_autoled_on(int led)
+{
+	if (led != LED_NOCHANGE) {
+		bool redon   = false;
+		bool greenon = false;
+		bool blueon  = false;
+
+		switch (led) {
+		default:
+		case LED_OFF_OFF_OFF:
+			break;
+
+		case LED_OFF_OFF_ON:
+			blueon = true;
+			break;
+
+		case LED_OFF_ON_OFF:
+			greenon = true;
+			break;
+
+		case LED_ON_OFF_OFF:
+			redon = true;
+			break;
+		}
+
+		/* Invert output, an output of '0' illuminates the LED */
+
+		s32k3xx_gpiowrite(GPIO_LED_R, !redon);
+		s32k3xx_gpiowrite(GPIO_LED_G, !greenon);
+		s32k3xx_gpiowrite(GPIO_LED_B, !blueon);
+	}
+}
+
+/****************************************************************************
+ * Name: board_autoled_off
+ ****************************************************************************/
+
+void board_autoled_off(int led)
+{
+	if (led == LED_ON_OFF_OFF) {
+		/* Invert outputs, an output of '0' illuminates the LED */
+
+		s32k3xx_gpiowrite(GPIO_LED_R, !true);
+		s32k3xx_gpiowrite(GPIO_LED_G, !false);
+		s32k3xx_gpiowrite(GPIO_LED_B, !false);
+	}
+}
+
+#endif /* CONFIG_ARCH_LEDS */

boards/nxp/mr-canhubk3/src/s32k3xx_boot.c

@@ -0,0 +1,102 @@
+/****************************************************************************
+ * boards/arm/s32k3xx/mr-canhubk3/src/s32k3xx_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.
+ *
+ ****************************************************************************/
+
+/* Copyright 2022 NXP */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/arch.h>
+#include <nuttx/board.h>
+
+#include "board_config.h"
+
+#ifdef CONFIG_S32K3XX_FS26
+#include "s32k3xx_fs26.h"
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: s32k3xx_board_initialize
+ *
+ * Description:
+ *   All S32K3XX architectures must provide the following entry point.  This
+ *   entry point is called early in the initialization -- after all memory
+ *   has been configured and mapped but before any devices have been
+ *   initialized.
+ *
+ ****************************************************************************/
+
+void s32k3xx_board_initialize(void)
+{
+#ifdef CONFIG_SEGGER_SYSVIEW
+	up_perf_init((void *)MR_CANHUBK3_SYSCLK_FREQUENCY);
+#endif
+
+#ifdef CONFIG_S32K3XX_FS26
+	/* Configure LPSPI3 & FS26 as quick as possible to avoid watchdog reset */
+
+	s32k3xx_pinconfig(PIN_LPSPI3_PCS);
+
+	/* Initialize the SPI driver for LPSPI3 */
+
+	struct spi_dev_s *g_lpspi3 = s32k3xx_lpspibus_initialize(3);
+
+	if (g_lpspi3 == NULL) {
+		spierr("ERROR: FAILED to initialize LPSPI3\n");
+	}
+
+	fs26_initialize(g_lpspi3);
+#endif
+
+#ifdef CONFIG_ARCH_LEDS
+	/* Configure on-board LEDs if LED support has been selected. */
+
+	board_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_initialize() 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-specific initialization */
+
+	s32k3xx_bringup();
+}
+#endif

boards/nxp/mr-canhubk3/src/s32k3xx_bringup.c

@@ -0,0 +1,281 @@
+/****************************************************************************
+ * boards/arm/s32k3xx/mr-canhubk3/src/s32k3xx_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.
+ *
+ ****************************************************************************/
+
+/* Copyright 2022 NXP */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <debug.h>
+#include <stdint.h>
+#include <sys/types.h>
+#include <syslog.h>
+
+#ifdef CONFIG_INPUT_BUTTONS
+#  include <nuttx/input/buttons.h>
+#endif
+
+#ifdef CONFIG_USERLED
+#  include <nuttx/leds/userled.h>
+#endif
+
+#ifdef CONFIG_S32K3XX_FLEXCAN
+#  include "s32k3xx_flexcan.h"
+#endif
+
+#ifdef CONFIG_S32K3XX_ENET
+#  include "s32k3xx_emac.h"
+#endif
+
+#ifdef CONFIG_S32K3XX_QSPI
+#  include <stdio.h>
+#  include <nuttx/mtd/mtd.h>
+#  include <nuttx/spi/qspi.h>
+#  include "s32k3xx_qspi.h"
+#endif
+
+#include <arch/board/board.h>
+#include "board_config.h"
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifdef HAVE_MX25L
+struct qspi_dev_s *g_qspi;
+struct mtd_dev_s *g_mtd_fs;
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: s32k3xx_bringup
+ *
+ * Description:
+ *   Perform architecture-specific initialization
+ *
+ *   CONFIG_BOARD_LATE_INITIALIZE=y :
+ *     Called from board_late_initialize().
+ *
+ *   CONFIG_BOARD_LATE_INITIALIZE=n && CONFIG_BOARDCTL=y :
+ *     Called from the NSH library
+ *
+ ****************************************************************************/
+
+int s32k3xx_bringup(void)
+{
+	int ret = OK;
+#if defined(CONFIG_BCH) || defined(HAVE_MX25L_LITTLEFS)
+	char blockdev[32];
+#  if !defined(HAVE_MX25L_LITTLEFS) && !defined(HAVE_MX25L_NXFFS)
+	char chardev[32];
+#  endif /* !HAVE_MX25L_LITTLEFS && !HAVE_MX25L_NXFFS */
+#endif /* CONFIG_BCH || HAVE_MX25L_LITTLEFS */
+
+#ifdef CONFIG_S32K3XX_LPSPI
+	/* Initialize SPI driver */
+
+	s32k3xx_spidev_initialize();
+#endif
+
+#ifdef CONFIG_INPUT_BUTTONS
+	/* Register the BUTTON driver */
+
+	ret = btn_lower_initialize("/dev/buttons");
+
+	if (ret < 0) {
+		_err("btn_lower_initialize() failed: %d\n", ret);
+
+	} else {
+		_info("btn_lower_initialize() succesful\n");
+	}
+
+#endif
+
+#ifdef CONFIG_USERLED
+	/* Register the LED driver */
+
+	ret = userled_lower_initialize("/dev/userleds");
+
+	if (ret < 0) {
+		_err("userled_lower_initialize() failed: %d\n", ret);
+
+	} else {
+		_info("userled_lower_initialize() succesful\n");
+	}
+
+#endif
+
+#ifdef HAVE_MX25L
+	/* Create an instance of the S32K3XX QSPI device driver */
+
+	g_qspi = s32k3xx_qspi_initialize(0);
+
+	if (!g_qspi) {
+		_err("s32k3xx_qspi_initialize() failed\n");
+
+	} else {
+		_info("s32k3xx_qspi_initialize() succesful\n");
+
+		/* Use the QSPI device instance to initialize the MX25 device */
+
+		g_mtd_fs = mx25rxx_initialize(g_qspi, true);
+
+		if (!g_mtd_fs) {
+			_err("mx25rxx_initialize() failed\n");
+
+		} else {
+			_info("mx25rxx_initialize() succesful\n");
+
+#  ifdef HAVE_MX25L_LITTLEFS
+			/* Configure the device with no partition support */
+
+			snprintf(blockdev, sizeof(blockdev), "/dev/mtdqspi%d",
+				 MX25L_MTD_MINOR);
+
+			ret = register_mtddriver(blockdev, g_mtd_fs, 0755, NULL);
+
+			if (ret != OK) {
+				_err("register_mtddriver() failed: %d\n", ret);
+
+			} else {
+				_info("register_mtddriver() succesful\n");
+
+				ret = nx_mount(blockdev, "/mnt/qspi", "littlefs", 0, NULL);
+
+				if (ret < 0) {
+					ret = nx_mount(blockdev, "/mnt/qspi", "littlefs", 0,
+						       "forceformat");
+
+					if (ret < 0) {
+						_err("nx_mount() failed: %d\n", ret);
+
+					} else {
+						_info("nx_mount() succesful\n");
+					}
+				}
+			}
+
+#  elif defined(HAVE_MX25L_NXFFS)
+			/* Initialize to provide NXFFS on the N25QXXX MTD interface */
+
+			ret = nxffs_initialize(g_mtd_fs);
+
+			if (ret < 0) {
+				_err("nxffs_initialize() failed: %d\n", ret);
+
+			} else {
+				_info("nxffs_initialize() succesful\n");
+
+				/* Mount the file system at /mnt/qspi */
+
+				ret = nx_mount(NULL, "/mnt/qspi", "nxffs", 0, NULL);
+
+				if (ret < 0) {
+					_err("nx_mount() failed: %d\n", ret);
+
+				} else {
+					_info("nx_mount() succesful\n");
+				}
+			}
+
+#  else /* if defined(HAVE_MX25L_CHARDEV) */
+			/* Use the FTL layer to wrap the MTD driver as a block driver */
+
+			ret = ftl_initialize(MX25L_MTD_MINOR, g_mtd_fs);
+
+			if (ret < 0) {
+				_err("ftl_initialize() failed: %d\n", ret);
+			}
+
+#    ifdef CONFIG_BCH
+
+			else {
+				_info("ftl_initialize() succesful\n");
+
+				/* Use the minor number to create device paths */
+
+				snprintf(blockdev, sizeof(blockdev), "/dev/mtdblock%d",
+					 MX25L_MTD_MINOR);
+				snprintf(chardev, sizeof(chardev), "/dev/mtd%d",
+					 MX25L_MTD_MINOR);
+
+				/* Now create a character device on the block device */
+
+				ret = bchdev_register(blockdev, chardev, false);
+
+				if (ret < 0) {
+					_err("bchdev_register %s failed: %d\n", chardev, ret);
+
+				} else {
+					_info("bchdev_register %s succesful\n", chardev);
+				}
+			}
+
+#    endif /* CONFIG_BCH */
+#  endif
+		}
+	}
+
+#endif
+
+#ifdef CONFIG_S32K3XX_SELFTEST
+	s32k3xx_selftest();
+#endif /* CONFIG_S32K3XX_SELFTEST */
+
+#ifdef CONFIG_NETDEV_LATEINIT
+#  ifdef CONFIG_S32K3XX_ENET
+	s32k3xx_netinitialize(0);
+#  endif /* CONFIG_S32K3XX_ENET */
+#  ifdef CONFIG_S32K3XX_FLEXCAN0
+	s32k3xx_caninitialize(0);
+#  endif /* CONFIG_S32K3XX_FLEXCAN0 */
+#  ifdef CONFIG_S32K3XX_FLEXCAN1
+	s32k3xx_caninitialize(1);
+#  endif /* CONFIG_S32K3XX_FLEXCAN1 */
+#  ifdef CONFIG_S32K3XX_FLEXCAN2
+	s32k3xx_caninitialize(2);
+#  endif /* CONFIG_S32K3XX_FLEXCAN2 */
+#  ifdef CONFIG_S32K3XX_FLEXCAN3
+	s32k3xx_caninitialize(3);
+#  endif /* CONFIG_S32K3XX_FLEXCAN3 */
+#  ifdef CONFIG_S32K3XX_FLEXCAN4
+	s32k3xx_caninitialize(4);
+#    ifdef CONFIG_S32K3XX_TJA1153
+	s32k3xx_tja1153_initialize(4);
+#    endif /* CONFIG_S32K3XX_TJA1153 */
+#  endif /* CONFIG_S32K3XX_FLEXCAN4 */
+#  ifdef CONFIG_S32K3XX_FLEXCAN5
+	s32k3xx_caninitialize(5);
+#    ifdef CONFIG_S32K3XX_TJA1153
+	s32k3xx_tja1153_initialize(5);
+#    endif /* CONFIG_S32K3XX_TJA1153 */
+#  endif /* CONFIG_S32K3XX_FLEXCAN5 */
+#endif /* CONFIG_NETDEV_LATEINIT */
+
+	_info("MR-CANHUBK3 board bringup complete\n");
+
+	return ret;
+}

boards/nxp/mr-canhubk3/src/s32k3xx_buttons.c

@@ -0,0 +1,149 @@
+/****************************************************************************
+ * boards/arm/s32k3xx/mr-canhubk3/src/s32k3xx_buttons.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.
+ *
+ ****************************************************************************/
+
+/* Copyright 2022 NXP */
+
+/* The MR-CANHUBK3 supports two buttons:
+ *
+ *   SW1  PTD15  (EIRQ31)
+ *   SW2  PTA25  (EIRQ5 / WKPU34)
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+#include <errno.h>
+
+#include <nuttx/board.h>
+
+#include "s32k3xx_pin.h"
+
+#include <arch/board/board.h>
+
+#include "board_config.h"
+
+#ifdef CONFIG_ARCH_BUTTONS
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_button_initialize
+ *
+ * Description:
+ *   board_button_initialize() must be called to initialize button resources.
+ *   After that, board_buttons() may be called to collect the current state
+ *   of all buttons or board_button_irq() may be called to register button
+ *   interrupt handlers.
+ *
+ ****************************************************************************/
+
+uint32_t board_button_initialize(void)
+{
+	/* Configure the GPIO pins as interrupting inputs */
+
+	s32k3xx_pinconfig(GPIO_SW1);
+	s32k3xx_pinconfig(GPIO_SW2);
+
+	return NUM_BUTTONS;
+}
+
+/****************************************************************************
+ * Name: board_buttons
+ ****************************************************************************/
+
+uint32_t board_buttons(void)
+{
+	uint32_t ret = 0;
+
+	if (s32k3xx_gpioread(GPIO_SW1)) {
+		ret |= BUTTON_SW1_BIT;
+	}
+
+	if (s32k3xx_gpioread(GPIO_SW2)) {
+		ret |= BUTTON_SW2_BIT;
+	}
+
+	return ret;
+}
+
+#ifdef CONFIG_ARCH_IRQBUTTONS
+/****************************************************************************
+ * Button support.
+ *
+ * Description:
+ *   board_button_initialize() must be called to initialize button resources.
+ *   After that, board_buttons() may be called to collect the current state
+ *   of all buttons or board_button_irq() may be called to register button
+ *   interrupt handlers.
+ *
+ *   After board_button_initialize() has been called, board_buttons() may be
+ *   called to collect the state of all buttons.  board_buttons() returns a
+ *   32-bit bit set with each bit associated with a button.  See the
+ *   BUTTON_*_BIT definitions in board.h for the meaning of each bit.
+ *
+ *   board_button_irq() may be called to register an interrupt handler that
+ *   will be called when a button is pressed or released.  The ID value is a
+ *   button enumeration value that uniquely identifies a button resource.
+ *   See the BUTTON_* definitions in board.h for the meaning of enumeration
+ *   value.
+ *
+ ****************************************************************************/
+
+int board_button_irq(int id, xcpt_t irqhandler, void *arg)
+{
+	uint32_t pinset;
+	int ret;
+
+	/* Map the button id to the GPIO bit set */
+
+	if (id == BUTTON_SW1) {
+		pinset = GPIO_SW1;
+
+	} else if (id == BUTTON_SW2) {
+		pinset = GPIO_SW2;
+
+	} else {
+		return -EINVAL;
+	}
+
+	/* The button has already been configured as an interrupting input (by
+	 * board_button_initialize() above).
+	 *
+	 * Attach the new button handler.
+	 */
+
+	ret = s32k3xx_pinirqattach(pinset, irqhandler, NULL);
+
+	if (ret >= 0) {
+		/* Then make sure that interrupts are enabled on the pin */
+
+		s32k3xx_pinirqenable(pinset);
+	}
+
+	return ret;
+}
+#endif /* CONFIG_ARCH_IRQBUTTONS */
+#endif /* CONFIG_ARCH_BUTTONS */

boards/nxp/mr-canhubk3/src/s32k3xx_clockconfig.c

@@ -0,0 +1,166 @@
+/****************************************************************************
+ * boards/arm/s32k3xx/mr-canhubk3/src/s32k3xx_clockconfig.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.
+ *
+ ****************************************************************************/
+
+/* Copyright 2022 NXP */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdbool.h>
+
+#include "s32k3xx_clockconfig.h"
+#include "s32k3xx_start.h"
+
+#include "board_config.h"
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* Each S32K3XX board must provide the following initialized structure.
+ * This is needed to establish the initial board clocking.
+ */
+
+const struct clock_configuration_s g_initial_clkconfig = {
+	.cgm                 =
+	{
+		.sirc              =
+		{
+			.range           = CGM_FIRC_RANGE_32K,           /* Slow IRC is trimmed to 32 kHz */
+		},
+		.firc              =
+		{
+			.range           = CGM_FIRC_RANGE_HIGH,          /* RANGE */
+			.div             = CGM_CLOCK_DIV_BY_1,           /* FIRCDIV1 */
+		},
+		.scs               =
+		{
+			.scs_source      = CGM_SCS_SOURCE_PLL_PHI0,
+			.core_clk        =
+			{
+				.div           = CGM_MUX_DIV_BY_1,
+				.trigger       = false,
+			},
+			.aips_plat_clk   =
+			{
+				.div           = CGM_MUX_DIV_BY_2,
+				.trigger       = false,
+			},
+			.aips_slow_clk   =
+			{
+				.div           = CGM_MUX_DIV_SLOW_BY_4,
+				.trigger       = false,
+			},
+			.hse_clk         =
+			{
+				.div           = CGM_MUX_DIV_BY_1,
+				.trigger       = false,
+			},
+			.dcm_clk         =
+			{
+				.div           = CGM_MUX_DIV_BY_1,
+				.trigger       = false,
+			},
+			.lbist_clk       =
+			{
+				.div           = CGM_MUX_DIV_BY_1,
+				.trigger       = false,
+			},
+#ifdef CONFIG_S32K3XX_QSPI
+			.qspi_mem_clk        =
+			{
+				.div           = CGM_MUX_DIV_BY_1,
+				.trigger       = false,
+			},
+#endif
+			.mux_1_stm0 =
+			{
+				.source        = CGM_CLK_SRC_FXOSC,
+				.div           = CGM_MUX_DIV_BY_2,
+			},
+			.mux_3 =
+			{
+				.source        = CGM_CLK_SRC_AIPS_PLAT_CLK,
+				.div           = CGM_MUX_DIV_BY_1,
+			},
+			.mux_4 =
+			{
+				.source        = CGM_CLK_SRC_AIPS_PLAT_CLK,
+				.div           = CGM_MUX_DIV_BY_1,
+			},
+#ifdef CONFIG_S32K3XX_ENET
+			.mux_7_emac_rx =
+			{
+				.source        = CGM_CLK_SRC_EMAC_RMII_TX_CLK,
+				.div           = CGM_MUX_DIV_BY_2,
+			},
+			.mux_8_emac_tx =
+			{
+				.source        = CGM_CLK_SRC_EMAC_RMII_TX_CLK,
+				.div           = CGM_MUX_DIV_BY_2,
+			},
+			.mux_9_emac_ts =
+			{
+				.source        = CGM_CLK_SRC_EMAC_RMII_TX_CLK,
+				.div           = CGM_MUX_DIV_BY_2, /* FIXME check div value */
+			},
+#endif
+#ifdef CONFIG_S32K3XX_QSPI
+			.mux_10_qspi_sfck =
+			{
+				.source        = CGM_CLK_SRC_PLL_PHI1_CLK,
+				.div           = CGM_MUX_DIV_BY_4,
+			},
+#endif
+		},
+		.pll =
+		{
+			.modul_freq      = 0,
+			.modul_depth     = 0,
+			.core_pll_power  = true,
+			.modulation_type = false,
+			.sigma_delta     = CGM_PLL_SIGMA_DELTA,
+			.enable_dither   = false,
+			.mode            = CGM_PLL_INTEGER_MODE,
+			.prediv          = 2,
+			.mult            = 120,
+			.postdiv         = 2,
+			.phi0            = CGM_PLL_PHI_DIV_BY_3,
+			.phi1            = CGM_PLL_PHI_DIV_BY_3,
+		},
+		.clkout            =
+		{
+			.source          = CGM_CLK_SRC_AIPS_SLOW_CLK,
+			.div             = CGM_CLKOUT_DIV_BY_1,
+		}
+	},
+	.pcc                 =
+	{
+		.count             = NUM_OF_PERIPHERAL_CLOCKS_0,   /* Number of peripheral clock configurations */
+		.pclks             = g_peripheral_clockconfig0,    /* Peripheral clock configurations */
+	},
+};
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/

boards/nxp/mr-canhubk3/src/s32k3xx_i2c.c

@@ -0,0 +1,106 @@
+/****************************************************************************
+ * boards/arm/s32k3xx/mr-canhubk3/src/s32k3xx_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.
+ *
+ ****************************************************************************/
+
+/* Copyright 2022 NXP */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/i2c/i2c_master.h>
+
+#include "s32k3xx_lpi2c.h"
+
+#include "board_config.h"
+
+#ifdef CONFIG_S32K3XX_LPI2C
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: s32k3xx_i2cdev_initialize
+ *
+ * Description:
+ *   Initialize I2C driver and register /dev/i2cN devices.
+ *
+ ****************************************************************************/
+
+int weak_function s32k3xx_i2cdev_initialize(void)
+{
+	int ret = OK;
+
+#if defined(CONFIG_S32K3XX_LPI2C0) && defined(CONFIG_I2C_DRIVER)
+	/* LPI2C0 *****************************************************************/
+
+	/* Initialize the I2C driver for LPI2C0 */
+
+	struct i2c_master_s *lpi2c0 = s32k3xx_i2cbus_initialize(0);
+
+	if (lpi2c0 == NULL) {
+		i2cerr("ERROR: FAILED to initialize LPI2C0\n");
+		return -ENODEV;
+	}
+
+	ret = i2c_register(lpi2c0, 0);
+
+	if (ret < 0) {
+		i2cerr("ERROR: FAILED to register LPI2C0 driver\n");
+		s32k3xx_i2cbus_uninitialize(lpi2c0);
+		return ret;
+	}
+
+#endif /* CONFIG_S32K3XX_LPI2C0 && CONFIG_I2C_DRIVER */
+
+#if defined(CONFIG_S32K3XX_LPI2C1) && defined(CONFIG_I2C_DRIVER)
+	/* LPI2C1 *****************************************************************/
+
+	/* Initialize the I2C driver for LPI2C1 */
+
+	struct i2c_master_s *lpi2c1 = s32k3xx_i2cbus_initialize(1);
+
+	if (lpi2c1 == NULL) {
+		i2cerr("ERROR: FAILED to initialize LPI2C1\n");
+		return -ENODEV;
+	}
+
+	ret = i2c_register(lpi2c1, 1);
+
+	if (ret < 0) {
+		i2cerr("ERROR: FAILED to register LPI2C1 driver\n");
+		s32k3xx_i2cbus_uninitialize(lpi2c1);
+		return ret;
+	}
+
+#endif /* CONFIG_S32K3XX_LPI2C1 && CONFIG_I2C_DRIVER */
+
+	return ret;
+}
+
+#endif /* CONFIG_S32K3XX_LPI2C */

boards/nxp/mr-canhubk3/src/s32k3xx_periphclocks.c

@@ -0,0 +1,265 @@
+/****************************************************************************
+ * boards/arm/s32k3xx/mr-canhubk3/src/s32k3xx_periphclocks.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.
+ *
+ ****************************************************************************/
+
+/* Copyright 2022 NXP */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdbool.h>
+
+#include "s32k3xx_clocknames.h"
+#include "s32k3xx_periphclocks.h"
+
+#include "board_config.h"
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* Each S32K3XX board must provide the following initialized structure.
+ * This is needed to establish the initial peripheral clocking.
+ */
+
+const struct peripheral_clock_config_s g_peripheral_clockconfig0[NUM_OF_PERIPHERAL_CLOCKS_0] = {
+	{
+		.clkname = FLEXCAN0_CLK,
+#ifdef CONFIG_S32K3XX_FLEXCAN0
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = FLEXCAN1_CLK,
+#ifdef CONFIG_S32K3XX_FLEXCAN1
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = FLEXCAN2_CLK,
+#ifdef CONFIG_S32K3XX_FLEXCAN2
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = FLEXCAN3_CLK,
+#ifdef CONFIG_S32K3XX_FLEXCAN3
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = FLEXCAN4_CLK,
+#ifdef CONFIG_S32K3XX_FLEXCAN4
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = FLEXCAN5_CLK,
+#ifdef CONFIG_S32K3XX_FLEXCAN5
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPI2C0_CLK,
+#ifdef CONFIG_S32K3XX_LPI2C0
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPI2C1_CLK,
+#ifdef CONFIG_S32K3XX_LPI2C1
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPSPI1_CLK,
+#ifdef CONFIG_S32K3XX_LPSPI1
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPSPI2_CLK,
+#ifdef CONFIG_S32K3XX_LPSPI2
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPSPI3_CLK,
+#ifdef CONFIG_S32K3XX_LPSPI3
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPSPI4_CLK,
+#ifdef CONFIG_S32K3XX_LPSPI4
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPSPI5_CLK,
+#ifdef CONFIG_S32K3XX_LPSPI5
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPUART0_CLK,
+#ifdef CONFIG_S32K3XX_LPUART0
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPUART1_CLK,
+#ifdef CONFIG_S32K3XX_LPUART1
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPUART2_CLK,
+#ifdef CONFIG_S32K3XX_LPUART2
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPUART9_CLK,
+#ifdef CONFIG_S32K3XX_LPUART9
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPUART10_CLK,
+#ifdef CONFIG_S32K3XX_LPUART10
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPUART13_CLK,
+#ifdef CONFIG_S32K3XX_LPUART13
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = LPUART14_CLK,
+#ifdef CONFIG_S32K3XX_LPUART14
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = WKPU_CLK,
+#ifdef CONFIG_S32K3XX_WKPUINTS
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = EMAC_CLK,
+#ifdef CONFIG_S32K3XX_ENET
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = QSPI_CLK,
+#ifdef CONFIG_S32K3XX_QSPI
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = EDMA_CLK,
+#ifdef CONFIG_S32K3XX_EDMA
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = DMAMUX0_CLK,
+#ifdef CONFIG_S32K3XX_EDMA
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = DMAMUX1_CLK,
+#ifdef CONFIG_S32K3XX_EDMA
+		.clkgate = true,
+#else
+		.clkgate = false,
+#endif
+	},
+	{
+		.clkname = STM0_CLK,
+		.clkgate = true,
+	},
+	{
+		.clkname = EMIOS0_CLK,
+		.clkgate = true,
+	},
+};
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/

boards/nxp/mr-canhubk3/src/s32k3xx_selftest.c

@@ -0,0 +1,439 @@
+/****************************************************************************
+ * boards/arm/s32k3xx/mr-canhubk3/src/s32k3xx_selftest.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.
+ *
+ ****************************************************************************/
+
+/* Copyright 2022 NXP */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <debug.h>
+#include <stdint.h>
+#include <stdio.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/i2c/i2c_master.h>
+
+#include "s32k3xx_lpi2c.h"
+#include "s32k3xx_pin.h"
+
+#include <arch/board/board.h>
+#include "board_config.h"
+
+#ifdef CONFIG_S32K3XX_SELFTEST
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+#ifdef CONFIG_S32K3XX_LPI2C
+static int s32k3xx_selftest_se050(void);
+#endif /* CONFIG_S32K3XX_LPI2C */
+#ifdef CONFIG_S32K3XX_FLEXCAN
+static int s32k3xx_selftest_can(void);
+#  if !defined(CONFIG_S32K3XX_TJA1153)
+static int s32k3xx_selftest_sct(void);
+#  endif /* !CONFIG_S32K3XX_TJA1153 */
+#endif /* CONFIG_S32K3XX_FLEXCAN */
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_S32K3XX_LPI2C
+/****************************************************************************
+ * Name: s32k3xx_selftest_se050
+ *
+ * Description:
+ *   Basic check to see if the SE050 is alive by having it ACK a I2C write.
+ *
+ ****************************************************************************/
+
+static int s32k3xx_selftest_se050(void)
+{
+	struct i2c_master_s *lpi2c1;
+	struct i2c_msg_s se050_msg;
+	uint8_t buf = 0;
+	int ret = 0;
+	bool error = false;
+
+#if !defined(CONFIG_S32K3XX_LPI2C1)
+#  error CONFIG_S32K3XX_LPI2C1 needs to be enabled to perform SE050 self-test
+#endif
+
+	/* Initialize LPI2C1 to which the SE050 is connected */
+
+	lpi2c1 = s32k3xx_i2cbus_initialize(1);
+
+	if (lpi2c1 != NULL) {
+		_info("s32k3xx_i2cbus_initialize() succesful\n");
+
+	} else {
+		error = true;
+		_err("s32k3xx_i2cbus_initialize() failed\n");
+
+		return -1; /* Return immediately, no cleanup needed */
+	}
+
+	/* Verify SE050 by checking for ACK on I2C write */
+
+	se050_msg.frequency = I2C_SPEED_STANDARD;
+	se050_msg.addr      = 0x48;
+	se050_msg.flags     = 0;
+	se050_msg.buffer    = &buf;
+	se050_msg.length    = 1;
+
+	ret = I2C_TRANSFER(lpi2c1, &se050_msg, 1);
+
+	if (ret == 0) {
+		_info("SE050 ACK succesful\n");
+
+	} else {
+		error = true;
+		_err("SE050 ACK failed: %d\n", ret);
+
+		/* Don't return yet, we still need to cleanup */
+	}
+
+	/* Let the LPI2C driver know we won't be using it anymore */
+
+	ret = s32k3xx_i2cbus_uninitialize(lpi2c1);
+
+	if (ret == 0) {
+		_info("s32k3xx_i2cbus_uninitialize() succesful\n");
+
+		/* Return error if we had any earlier, otherwise return result of
+		 * s32k3xx_i2cbus_uninitialize()
+		 */
+
+		return (error ? -1 : ret);
+
+	} else {
+		error = true;
+		_err("s32k3xx_i2cbus_uninitialize() failed: %d\n", ret);
+
+		return -1;
+	}
+}
+#endif /* CONFIG_S32K3XX_LPI2C */
+
+#ifdef CONFIG_S32K3XX_FLEXCAN
+/****************************************************************************
+ * Name: s32k3xx_selftest_can
+ *
+ * Description:
+ *   Basic check of the local failure flags of the CAN transceivers (0-3).
+ *
+ ****************************************************************************/
+
+static int s32k3xx_selftest_can(void)
+{
+	uint32_t errn_pins[4] = {
+		PIN_CAN0_ERRN,
+		PIN_CAN1_ERRN,
+		PIN_CAN2_ERRN,
+		PIN_CAN3_ERRN
+	};
+
+	uint32_t stbn_pins[4] = {
+		PIN_CAN0_STB,
+		PIN_CAN1_STB,
+		PIN_CAN2_STB,
+		PIN_CAN3_STB
+	};
+
+	uint32_t en_pins[4] = {
+		PIN_CAN0_ENABLE,
+		PIN_CAN1_ENABLE,
+		PIN_CAN2_ENABLE,
+		PIN_CAN3_ENABLE
+	};
+
+	int i;
+	int ret = 0;
+	bool error = false;
+
+#if !defined(CONFIG_S32K3XX_FLEXCAN0) || !defined(CONFIG_S32K3XX_FLEXCAN1) || \
+    !defined(CONFIG_S32K3XX_FLEXCAN2) || !defined(CONFIG_S32K3XX_FLEXCAN3)
+#  error CONFIG_S32K3XX_FLEXCAN0-3 need to be enabled to perform CAN self-test
+#endif
+
+	/* Initialize pins, go into normal mode (EN high, STB_N high) to clear Pwon
+	 * and Wake flags.
+	 */
+
+	for (i = 0; i < 4; i++) {
+		ret = s32k3xx_pinconfig(errn_pins[i]);
+
+		if (ret != 0) {
+			error = true;
+			_err("CAN%d ERR_N pin configuration failed\n", i);
+
+			return -1; /* Return immediately, no cleanup needed */
+		}
+
+		ret = s32k3xx_pinconfig(stbn_pins[i] | GPIO_OUTPUT_ONE);
+
+		if (ret != 0) {
+			error = true;
+			_err("CAN%d STB_N pin configuration failed\n", i);
+
+			return -1; /* Return immediately, no cleanup needed */
+		}
+
+		ret = s32k3xx_pinconfig(en_pins[i] | GPIO_OUTPUT_ONE);
+
+		if (ret != 0) {
+			error = true;
+			_err("CAN%d EN pin configuration failed\n", i);
+
+			return -1; /* Return immediately, no cleanup needed */
+		}
+	}
+
+	/* Wait for the transition to normal mode to finish and previous status
+	 * flags to be cleared before switching modes again.  This is longer
+	 */
+
+	up_udelay(3000);
+
+	/* Go into listen-only mode (EN low, STB_N still high) to read local
+	 * failure flags.
+	 */
+
+	for (i = 0; i < 4; i++) {
+		s32k3xx_gpiowrite(en_pins[i], 0);
+	}
+
+	/* Wait for transition to listen-only mode to finish */
+
+	up_udelay(200);
+
+	/* Check for local failure flags and then go back to normal mode */
+
+	for (i = 0; i < 4; i++) {
+		if (s32k3xx_gpioread(errn_pins[i])) {
+			_info("CAN%d flag check succesful\n", i);
+
+		} else {
+			error = true;
+			_err("CAN%d flag check failed\n", i);
+
+			/* Don't return yet, we still need to cleanup */
+		}
+
+		s32k3xx_gpiowrite(en_pins[i], 1);
+	}
+
+	return (error ? -1 : 0);
+}
+
+#  if !defined(CONFIG_S32K3XX_TJA1153)
+/****************************************************************************
+ * Name: s32k3xx_selftest_sct
+ *
+ * Description:
+ *   Basic check of the SCTs (4-5).
+ *
+ ****************************************************************************/
+
+static int s32k3xx_selftest_sct(void)
+{
+	uint32_t stbn_pins[2] = {
+		PIN_CAN4_STB,
+		PIN_CAN5_STB
+	};
+
+	uint32_t en_pins[2] = {
+		PIN_CAN4_ENABLE,
+		PIN_CAN5_ENABLE
+	};
+
+	uint32_t txd_pins[2] = {
+		PIN_CAN4_TX,
+		PIN_CAN5_TX
+	};
+
+	uint32_t rxd_pins[2] = {
+		PIN_CAN4_RX,
+		PIN_CAN5_RX
+	};
+
+	int i;
+	int ret = 0;
+	bool error = false;
+
+	/* Configure pins and enable CAN PHY.  CAN_TXD will be temporarily changed
+	 * to a GPIO output to be able to control its logic level.
+	 */
+
+	for (i = 4; i < 6; i++) {
+		ret = s32k3xx_pinconfig(stbn_pins[i - 4] | GPIO_OUTPUT_ZERO);
+
+		if (ret != 0) {
+			error = true;
+			_err("CAN%d STB_N pin configuration failed\n", i);
+
+			return -1; /* Return immediately, no cleanup needed */
+		}
+
+		ret = s32k3xx_pinconfig(en_pins[i - 4] | GPIO_OUTPUT_ONE);
+
+		if (ret != 0) {
+			error = true;
+			_err("CAN%d EN pin configuration failed\n", i);
+
+			return -1; /* Return immediately, no cleanup needed */
+		}
+
+		ret = s32k3xx_pinconfig((txd_pins[i - 4] & (_PIN_PORT_MASK |
+					 _PIN_MASK)) | GPIO_OUTPUT | GPIO_OUTPUT_ONE);
+
+		if (ret != 0) {
+			error = true;
+			_err("CAN%d TXD pin configuration failed\n", i);
+
+			return -1; /* Return immediately, no cleanup needed */
+		}
+
+		ret = s32k3xx_pinconfig(rxd_pins[i - 4]);
+
+		if (ret != 0) {
+			error = true;
+			_err("CAN%d RXD pin configuration failed\n", i);
+
+			return -1; /* Return immediately, no cleanup needed */
+		}
+	}
+
+	/* Wait for CAN PHY to detect change at TXD pin */
+
+	up_udelay(5000);
+
+	/* Check if CAN_RXD follows the high level of CAN_TXD */
+
+	for (i = 4; i < 6; i++) {
+		if (s32k3xx_gpioread(rxd_pins[i - 4])) {
+			_info("CAN%d RXD high check succesful\n", i);
+
+		} else {
+			error = true;
+			_err("CAN%d RXD high check failed\n", i);
+
+			/* Don't return yet, we still need to cleanup */
+		}
+	}
+
+	for (i = 4; i < 6; i++) {
+		s32k3xx_gpiowrite(txd_pins[i - 4], 0);
+	}
+
+	/* Wait for CAN PHY to detect change at TXD pin */
+
+	up_udelay(5000);
+
+	/* Check if CAN_RXD follows the low level of CAN_TXD */
+
+	for (i = 4; i < 6; i++) {
+		if (!s32k3xx_gpioread(rxd_pins[i - 4])) {
+			_info("CAN%d RXD low check succesful\n", i);
+
+		} else {
+			error = true;
+			_err("CAN%d RXD low check failed\n", i);
+
+			/* Don't return yet, we still need to cleanup */
+		}
+	}
+
+	/* Restore CAN_TXD pinconfig */
+
+	for (i = 4; i < 6; i++) {
+		s32k3xx_pinconfig(txd_pins[i - 4]);
+
+		if (ret != 0) {
+			error = true;
+			_err("CAN%d TXD restoring pin configuration failed\n", i);
+
+			/* Don't return yet, we still need to cleanup */
+		}
+	}
+
+	return (error ? -1 : 0);
+}
+#  endif /* !CONFIG_S32K3XX_TJA1153 */
+#endif /* CONFIG_S32K3XX_FLEXCAN */
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: s32k3xx_selftest
+ *
+ * Description:
+ *   Runs basic routines to verify that all board components are up and
+ *   running.  Results are send to the syslog, it is recommended to
+ *   enable all output levels (error, warning and info).
+ *
+ ****************************************************************************/
+
+void s32k3xx_selftest(void)
+{
+	int ret = 0;
+	bool error = false;
+
+#ifdef CONFIG_S32K3XX_LPI2C
+	ret = s32k3xx_selftest_se050();
+
+	if (ret != 0) {
+		error = true;
+		_err("s32k3xx_selftest_se050() failed\n");
+	}
+
+#endif
+
+#ifdef CONFIG_S32K3XX_FLEXCAN
+	ret = s32k3xx_selftest_can();
+
+	if (ret != 0) {
+		error = true;
+		_err("s32k3xx_selftest_can() failed\n");
+	}
+
+#  if !defined(CONFIG_S32K3XX_TJA1153)
+	ret = s32k3xx_selftest_sct();
+
+	if (ret != 0) {
+		error = true;
+		_err("s32k3xx_selftest_sct() failed\n");
+	}
+
+#  endif /* !CONFIG_S32K3XX_TJA1153 */
+#endif
+
+	if (!error) {
+		_info("s32k3xx_selftest() succesful\n");
+	}
+}
+
+#endif /* CONFIG_S32K3XX_SELFTEST */

boards/nxp/mr-canhubk3/src/s32k3xx_tja1153.c

@@ -0,0 +1,325 @@
+/****************************************************************************
+ * boards/arm/s32k3xx/mr-canhubk3/src/s32k3xx_tja1153.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.
+ *
+ ****************************************************************************/
+
+/* Copyright 2022 NXP
+ *
+ * This TJA1153 initialization routine is intended for ENGINEERING
+ * DEVELOPMENT OR EVALUATION PURPOSES ONLY.  It is provided as an example to
+ * use the TJA1153.  Please refer to the datasheets and application hints
+ * provided on NXP.com to implement full functionality.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <debug.h>
+#include <string.h>
+#include <unistd.h>
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <nuttx/can.h>
+#include <netpacket/can.h>
+#include <nuttx/signal.h>
+
+#include "s32k3xx_pin.h"
+#include <arch/board/board.h>
+#include "board_config.h"
+
+#ifdef CONFIG_S32K3XX_TJA1153
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Bitrate must be set to 125, 250 or 500 kbit/s for CAN 2.0 and CAN FD
+ * arbitration phase
+ */
+
+#ifdef CONFIG_S32K3XX_FLEXCAN4
+#  if CONFIG_NET_CAN_CANFD
+#    if CONFIG_FLEXCAN4_ARBI_BITRATE > 500000
+#      error "FLEXCAN4_ARBI_BITRATE > 500000"
+#    endif
+#  else
+#    if CONFIG_FLEXCAN4_BITRATE > 500000
+#      error "FLEXCAN4_BITRATE > 500000"
+#    endif
+#  endif
+#endif
+
+#ifdef CONFIG_S32K3XX_FLEXCAN5
+#  if CONFIG_NET_CAN_CANFD
+#    if CONFIG_FLEXCAN5_ARBI_BITRATE > 500000
+#      error "FLEXCAN5_ARBI_BITRATE > 500000"
+#    endif
+#  else
+#    if CONFIG_FLEXCAN5_BITRATE > 500000
+#      error "FLEXCAN5_BITRATE > 500000"
+#    endif
+#  endif
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: s32k3xx_tja1153_initialize
+ *
+ * Description:
+ *   Initialize a TJA1153 CAN PHY connected to a FlexCAN peripheral (0-5)
+ *
+ ****************************************************************************/
+
+int s32k3xx_tja1153_initialize(int bus)
+{
+	int sock;
+	struct sockaddr_can addr;
+	struct can_frame frame_config1;
+	struct can_frame frame_config2;
+	struct can_frame frame_config3;
+	struct can_frame frame_config4;
+	struct can_frame frame_config5;
+	struct ifreq ifr;
+	uint32_t pin_can_txd;
+	uint32_t pin_can_rxd;
+	uint32_t pin_can_enable;
+	uint32_t pin_can_stb_n;
+	int ret = 0;
+
+	/* Select interface and pins */
+
+	switch (bus) {
+#ifdef CONFIG_S32K3XX_FLEXCAN4
+
+	case 4: {
+			strlcpy(ifr.ifr_name, "can4", IFNAMSIZ);
+
+			pin_can_txd    = PIN_CAN4_TX;
+			pin_can_rxd    = PIN_CAN4_RX;
+			pin_can_enable = PIN_CAN4_ENABLE;
+			pin_can_stb_n  = PIN_CAN4_STB;
+		}
+		break;
+#endif
+#ifdef CONFIG_S32K3XX_FLEXCAN5
+
+	case 5: {
+			strlcpy(ifr.ifr_name, "can5", IFNAMSIZ);
+
+			pin_can_txd    = PIN_CAN5_TX;
+			pin_can_rxd    = PIN_CAN5_RX;
+			pin_can_enable = PIN_CAN5_ENABLE;
+			pin_can_stb_n  = PIN_CAN5_STB;
+		}
+		break;
+#endif
+
+	default: {
+			/* This FlexCAN is not supported (yet) */
+
+			return -1;
+		}
+	}
+
+	/* First check if configuration is actually needed */
+
+	s32k3xx_pinconfig((pin_can_txd & (_PIN_PORT_MASK | _PIN_MASK)) |
+			  GPIO_OUTPUT | GPIO_OUTPUT_ZERO);
+
+	if (s32k3xx_gpioread(pin_can_rxd)) {
+		_info("CAN%d TJA1153 already configured\n", bus);
+
+		s32k3xx_pinconfig(pin_can_txd); /* Restore CAN_TXD pinconfig */
+		return 0;
+	}
+
+	s32k3xx_pinconfig(pin_can_txd); /* Restore CAN_TXD pinconfig */
+
+	/* Find network interface */
+
+	ifr.ifr_ifindex = if_nametoindex(ifr.ifr_name);
+
+	if (!ifr.ifr_ifindex) {
+		_err("CAN%d TJA1153: if_nametoindex failed\n", bus);
+		return -1;
+	}
+
+	/* Configure pins */
+
+	s32k3xx_pinconfig(pin_can_enable);
+	s32k3xx_pinconfig(pin_can_stb_n);
+
+	s32k3xx_gpiowrite(pin_can_enable, true); /* Enable TJA1153 */
+	s32k3xx_gpiowrite(pin_can_stb_n, false); /* Inverted, so TJA1153 is put in STANDBY */
+
+	/* Init CAN frames, e.g. LEN = 0 */
+
+	memset(&frame_config1, 0, sizeof(frame_config1));
+	memset(&frame_config2, 0, sizeof(frame_config2));
+	memset(&frame_config3, 0, sizeof(frame_config3));
+	memset(&frame_config4, 0, sizeof(frame_config4));
+	memset(&frame_config5, 0, sizeof(frame_config5));
+
+	/* Prepare CAN frames. Refer to the TJA1153 datasheets and application
+	 * hints available on NXP.com for details.
+	 */
+
+	frame_config1.can_id  = 0x555;
+	frame_config1.can_dlc = 0;
+
+	frame_config2.can_id  = 0x18da00f1 | CAN_EFF_FLAG;
+	frame_config2.can_dlc = 6;
+	frame_config2.data[0] = 0x10;
+	frame_config2.data[1] = 0x00;
+	frame_config2.data[2] = 0x50;
+	frame_config2.data[3] = 0x00;
+	frame_config2.data[4] = 0x07;
+	frame_config2.data[5] = 0xff;
+
+	frame_config3.can_id  = 0x18da00f1 | CAN_EFF_FLAG;
+	frame_config3.can_dlc = 6;
+	frame_config3.data[0] = 0x10;
+	frame_config3.data[1] = 0x01;
+	frame_config3.data[2] = 0x9f;
+	frame_config3.data[3] = 0xff;
+	frame_config3.data[4] = 0xff;
+	frame_config3.data[5] = 0xff;
+
+	frame_config4.can_id  = 0x18da00f1 | CAN_EFF_FLAG;
+	frame_config4.can_dlc = 6;
+	frame_config4.data[0] = 0x10;
+	frame_config4.data[1] = 0x02;
+	frame_config4.data[2] = 0xc0;
+	frame_config4.data[3] = 0x00;
+	frame_config4.data[4] = 0x00;
+	frame_config4.data[5] = 0x00;
+
+	frame_config5.can_id  = 0x18da00f1 | CAN_EFF_FLAG;
+	frame_config5.can_dlc = 8;
+	frame_config5.data[0] = 0x71;
+	frame_config5.data[1] = 0x02;
+	frame_config5.data[2] = 0x03;
+	frame_config5.data[3] = 0x04;
+	frame_config5.data[4] = 0x05;
+	frame_config5.data[5] = 0x06;
+	frame_config5.data[6] = 0x07;
+	frame_config5.data[7] = 0x08;
+
+	/* Open socket */
+
+	if ((sock = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
+		_err("CAN%d TJA1153: Failed to open socket\n", bus);
+		return -1;
+	}
+
+	/* Bring up the interface */
+
+	ifr.ifr_flags = IFF_UP;
+	ret = ioctl(sock, SIOCSIFFLAGS, (unsigned long)&ifr);
+
+	if (ret < 0) {
+		_err("CAN%d TJA1153: ioctl failed (can't set interface flags)\n", bus);
+		close(sock);
+		return -1;
+	}
+
+	/* Initialize sockaddr struct */
+
+	memset(&addr, 0, sizeof(addr));
+	addr.can_family  = AF_CAN;
+	addr.can_ifindex = ifr.ifr_ifindex;
+
+	/* Disable default receive filter on this RAW socket
+	 *
+	 * This is obsolete as we do not read from the socket at all, but for this
+	 * reason we can remove the receive list in the kernel to save a little
+	 * (really very little!) CPU usage.
+	 */
+
+	setsockopt(sock, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
+
+	/* Bind socket and send the CAN frames */
+
+	if (bind(sock, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+		_err("CAN%d TJA1153: Failed to bind socket\n", bus);
+		close(sock);
+		return -1;
+	}
+
+	if (write(sock, &frame_config1, CAN_MTU) != CAN_MTU) {
+		_err("CAN%d TJA1153: Failed to write frame_config1\n", bus);
+		close(sock);
+		return -1;
+	}
+
+	if (write(sock, &frame_config2, CAN_MTU) != CAN_MTU) {
+		_err("CAN%d TJA1153: Failed to write frame_config2\n", bus);
+		close(sock);
+		return -1;
+	}
+
+	if (write(sock, &frame_config3, CAN_MTU) != CAN_MTU) {
+		_err("CAN%d TJA1153: Failed to write frame_config3\n", bus);
+		close(sock);
+		return -1;
+	}
+
+	if (write(sock, &frame_config4, CAN_MTU) != CAN_MTU) {
+		_err("CAN%d TJA1153: Failed to write frame_config4\n", bus);
+		close(sock);
+		return -1;
+	}
+
+	if (write(sock, &frame_config5, CAN_MTU) != CAN_MTU) {
+		_err("CAN%d TJA1153: Failed to write frame_config5\n", bus);
+		close(sock);
+		return -1;
+	}
+
+	/* Sleep for 100 ms to ensure that CAN frames have been transmitted */
+
+	nxsig_usleep(100 * 1000);
+
+	/* TJA1153 must be taken out of STB mode */
+
+	s32k3xx_gpiowrite(pin_can_stb_n, true); /* Inverted, so TJA1153 comes out of STANDBY */
+
+	/* Bring down the interface */
+
+	ifr.ifr_flags = IFF_DOWN;
+	ret = ioctl(sock, SIOCSIFFLAGS, (unsigned long)&ifr);
+
+	if (ret < 0) {
+		_err("CAN%d TJA1153: ioctl failed (can't set interface flags)\n", bus);
+		close(sock);
+		return -1;
+	}
+
+	close(sock);
+	_info("CAN%d TJA1153 configuration succesful\n", bus);
+	return 0;
+}
+
+#endif /* CONFIG_S32K3XX_TJA1153 */

boards/nxp/mr-canhubk3/src/s32k3xx_userleds.c

@@ -0,0 +1,103 @@
+/****************************************************************************
+ * boards/arm/s32k3xx/mr-canhubk3/src/s32k3xx_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.
+ *
+ ****************************************************************************/
+
+/* Copyright 2022 NXP */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#include <nuttx/board.h>
+
+#include "s32k3xx_pin.h"
+
+#include <arch/board/board.h>
+
+#include "board_config.h"
+
+#ifndef CONFIG_ARCH_LEDS
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_userled_initialize
+ ****************************************************************************/
+
+uint32_t board_userled_initialize(void)
+{
+	/* Configure LED GPIOs for output */
+
+	s32k3xx_pinconfig(GPIO_LED_R);
+	s32k3xx_pinconfig(GPIO_LED_G);
+	s32k3xx_pinconfig(GPIO_LED_B);
+	return BOARD_NLEDS;
+}
+
+/****************************************************************************
+ * Name: board_userled
+ ****************************************************************************/
+
+void board_userled(int led, bool ledon)
+{
+	uint32_t ledcfg;
+
+	switch (led) {
+	case BOARD_LED_R:
+		ledcfg = GPIO_LED_R;
+		break;
+
+	case BOARD_LED_G:
+		ledcfg = GPIO_LED_G;
+		break;
+
+	case BOARD_LED_B:
+		ledcfg = GPIO_LED_B;
+		break;
+
+	default:
+		return;
+	}
+
+	/* Invert output, an output of '0' illuminates the LED */
+
+	s32k3xx_gpiowrite(ledcfg, !ledon);
+}
+
+/****************************************************************************
+ * Name: board_userled_all
+ ****************************************************************************/
+
+void board_userled_all(uint32_t ledset)
+{
+	/* Invert output, an output of '0' illuminates the LED */
+
+	s32k3xx_gpiowrite(GPIO_LED_R, !((ledset & BOARD_LED_R_BIT) != 0));
+	s32k3xx_gpiowrite(GPIO_LED_G, !((ledset & BOARD_LED_G_BIT) != 0));
+	s32k3xx_gpiowrite(GPIO_LED_B, !((ledset & BOARD_LED_B_BIT) != 0));
+}
+
+#endif /* !CONFIG_ARCH_LEDS */

boards/nxp/mr-canhubk3/src/spi.cpp

@@ -0,0 +1,368 @@
+/************************************************************************************
+ *
+ *   Copyright (C) 2016, 2018, 2021 Gregory Nutt. All rights reserved.
+ *   Authors: Gregory Nutt <gnutt@nuttx.org>
+ *            David Sidrane <david_s5@nscdg.com>
+ *            Landon Haugh <landon.haugh@nxp.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <px4_arch/spi_hw_description.h>
+#include <px4_platform_common/px4_config.h>
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+#include <arch/board/board.h>
+
+#include "arm_internal.h"
+#include "chip.h"
+#include <systemlib/px4_macros.h>
+
+#include "s32k3xx_config.h"
+#include "s32k3xx_lpspi.h"
+#include "s32k3xx_pin.h"
+#include "board_config.h"
+
+#if defined(CONFIG_S32K3XX_LPSPI)
+
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBusExternal(SPI::Bus::SPI1, {
+		initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin5})
+	}),
+	initSPIBusExternal(SPI::Bus::SPI2, { // SD Card
+		initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin5})
+	}),
+	initSPIBus(SPI::Bus::SPI3, { // SPI3 is ignored only used for FS26 by a NuttX driver
+		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin17})
+	}),
+	initSPIBus(SPI::Bus::SPI4, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin16}, SPI::DRDY{GPIO::PortA, GPIO::Pin15, 551})
+	}),
+	initSPIBus(SPI::Bus::SPI5, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortA, GPIO::Pin14}, SPI::DRDY{GPIO::PortA, GPIO::Pin13, 549})
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);
+
+#define PX4_MK_GPIO(pin_ftmx, io)    ((((uint32_t)(pin_ftmx)) & ~(_PIN_MODE_MASK | _PIN_OPTIONS_MASK)) |(io))
+
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+__EXPORT void board_spi_reset(int ms, int bus_mask)
+{
+	/* Goal not to back feed the chips on the bus via IO lines */
+
+	/* Next Change CS to inputs with pull downs */
+	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
+		if (px4_spi_buses[bus].bus == PX4_BUS_NUMBER_TO_PX4(1)) {
+			for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
+				if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
+					// s32k3xx_pinconfig is defined
+					// Only one argument, (uint32_t cfgset)
+					s32k3xx_pinconfig(PX4_MK_GPIO(px4_spi_buses[bus].devices[i].cs_gpio, GPIO_PULLDOWN));
+				}
+			}
+		}
+	}
+
+	/* Restore all the CS to ouputs inactive */
+	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
+		if (px4_spi_buses[bus].bus == PX4_BUS_NUMBER_TO_PX4(1)) {
+			for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
+				if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
+					s32k3xx_pinconfig(px4_spi_buses[bus].devices[i].cs_gpio);
+				}
+			}
+		}
+	}
+}
+
+/************************************************************************************
+ * Name: s32k3xx_spidev_initialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the NXP UCANS32K146 board.
+ *
+ ************************************************************************************/
+
+void s32k3xx_spidev_initialize(void)
+{
+	board_spi_reset(10, 0xffff);
+
+	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
+		for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
+			if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
+				s32k3xx_pinconfig(px4_spi_buses[bus].devices[i].cs_gpio);
+			}
+		}
+	}
+}
+
+/************************************************************************************
+ * Name: s32k3xx_spi_bus_initialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the NXP UCANS32K146 board.
+ *
+ ************************************************************************************/
+
+
+__EXPORT int s32k3xx_spi_bus_initialize(void)
+{
+
+	struct spi_dev_s *spi_ext;
+
+	spi_ext = px4_spibus_initialize(2);
+
+	if (!spi_ext) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 2);
+		return -ENODEV;
+	}
+
+	/* Default external bus to 1MHz and de-assert the known chip selects.
+	 */
+
+	SPI_SETFREQUENCY(spi_ext, 8 * 1000 * 1000);
+	SPI_SETBITS(spi_ext, 8);
+	SPI_SETMODE(spi_ext, SPIDEV_MODE3);
+
+	/* deselect all */
+	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
+		for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
+			if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
+				SPI_SELECT(spi_ext, px4_spi_buses[bus].devices[i].devid, false);
+			}
+		}
+	}
+
+	spi_ext = px4_spibus_initialize(3);
+
+	if (!spi_ext) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 2);
+		return -ENODEV;
+	}
+
+	/* Default external bus to 1MHz and de-assert the known chip selects.
+	 */
+
+	SPI_SETFREQUENCY(spi_ext, 8 * 1000 * 1000);
+	SPI_SETBITS(spi_ext, 8);
+	SPI_SETMODE(spi_ext, SPIDEV_MODE3);
+
+	/* deselect all */
+	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
+		for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
+			if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
+				SPI_SELECT(spi_ext, px4_spi_buses[bus].devices[i].devid, false);
+			}
+		}
+	}
+
+	spi_ext = px4_spibus_initialize(5);
+
+	if (!spi_ext) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 2);
+		return -ENODEV;
+	}
+
+	/* Default external bus to 1MHz and de-assert the known chip selects.
+	 */
+
+	SPI_SETFREQUENCY(spi_ext, 8 * 1000 * 1000);
+	SPI_SETBITS(spi_ext, 8);
+	SPI_SETMODE(spi_ext, SPIDEV_MODE3);
+
+	/* deselect all */
+	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
+		for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
+			if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
+				SPI_SELECT(spi_ext, px4_spi_buses[bus].devices[i].devid, false);
+			}
+		}
+	}
+
+	spi_ext = px4_spibus_initialize(6);
+
+	if (!spi_ext) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 2);
+		return -ENODEV;
+	}
+
+	/* Default external bus to 1MHz and de-assert the known chip selects.
+	 */
+
+	SPI_SETFREQUENCY(spi_ext, 8 * 1000 * 1000);
+	SPI_SETBITS(spi_ext, 8);
+	SPI_SETMODE(spi_ext, SPIDEV_MODE3);
+
+	/* deselect all */
+	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
+		for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
+			if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
+				SPI_SELECT(spi_ext, px4_spi_buses[bus].devices[i].devid, false);
+			}
+		}
+	}
+
+
+	return OK;
+
+}
+
+/****************************************************************************
+ * Name: s32k3xx_lpspiNselect and s32k3xx_lpspiNstatus
+ *
+ * Description:
+ *   The external functions, s32k3xx_lpspiNselect and s32k3xx_lpspiNstatus
+ *   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
+ *   s32k3xx_lpspibus_initialize()) are provided by common logic.  To use
+ *   this common SPI logic on your board:
+ *
+ *   1. Provide logic in s32k3xx_boardinitialize() to configure SPI chip
+ *      select pins.
+ *   2. Provide s32k3xx_lpspiNselect() and s32k3xx_lpspiNstatus() 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 s32k3xx_lpspibus_initialize() in your low level
+ *      application initialization logic.
+ *   4. The handle returned by s32k3xx_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_S32K3XX_LPSPI1
+/* LPSPI1 *******************************************************************/
+
+void s32k3xx_lpspi1select(FAR struct spi_dev_s *dev, uint32_t devid,
+			  bool selected)
+{
+	spiinfo("devid: %" PRId32 ", CS: %s\n", devid,
+		selected ? "assert" : "de-assert");
+
+	s32k3xx_gpiowrite(PIN_LPSPI1_PCS, !selected);
+}
+
+uint8_t s32k3xx_lpspi1status(FAR struct spi_dev_s *dev, uint32_t devid)
+{
+	return SPI_STATUS_PRESENT;
+}
+#endif /* CONFIG_S32K3XX_LPSPI1 */
+
+#ifdef CONFIG_S32K3XX_LPSPI2
+/* LPSPI2 *******************************************************************/
+
+void s32k3xx_lpspi2select(FAR struct spi_dev_s *dev, uint32_t devid,
+			  bool selected)
+{
+	spiinfo("devid: %" PRId32 ", CS: %s\n", devid,
+		selected ? "assert" : "de-assert");
+
+	s32k3xx_gpiowrite(PIN_LPSPI2_PCS, !selected);
+}
+
+uint8_t s32k3xx_lpspi2status(FAR struct spi_dev_s *dev, uint32_t devid)
+{
+	return SPI_STATUS_PRESENT;
+}
+#endif /* CONFIG_S32K3XX_LPSPI2 */
+
+#ifdef CONFIG_S32K3XX_LPSPI3
+/* LPSPI3 *******************************************************************/
+
+void s32k3xx_lpspi3select(FAR struct spi_dev_s *dev, uint32_t devid,
+			  bool selected)
+{
+	spiinfo("devid: %" PRId32 ", CS: %s\n", devid,
+		selected ? "assert" : "de-assert");
+
+	s32k3xx_gpiowrite(PIN_LPSPI3_PCS, !selected);
+}
+
+uint8_t s32k3xx_lpspi3status(FAR struct spi_dev_s *dev, uint32_t devid)
+{
+	return SPI_STATUS_PRESENT;
+}
+#endif /* CONFIG_S32K3XX_LPSPI3 */
+
+#ifdef CONFIG_S32K3XX_LPSPI4
+/* LPSPI4 *******************************************************************/
+
+void s32k3xx_lpspi4select(FAR struct spi_dev_s *dev, uint32_t devid,
+			  bool selected)
+{
+	spiinfo("devid: %" PRId32 ", CS: %s\n", devid,
+		selected ? "assert" : "de-assert");
+
+	s32k3xx_gpiowrite(PIN_LPSPI4_PCS, !selected);
+}
+
+uint8_t s32k3xx_lpspi4status(FAR struct spi_dev_s *dev, uint32_t devid)
+{
+	return SPI_STATUS_PRESENT;
+}
+#endif /* CONFIG_S32K3XX_LPSPI4 */
+
+#ifdef CONFIG_S32K3XX_LPSPI5
+/* LPSPI5 *******************************************************************/
+
+void s32k3xx_lpspi5select(FAR struct spi_dev_s *dev, uint32_t devid,
+			  bool selected)
+{
+	spiinfo("devid: %" PRId32 ", CS: %s\n", devid,
+		selected ? "assert" : "de-assert");
+
+	s32k3xx_gpiowrite(PIN_LPSPI5_PCS, !selected);
+}
+
+uint8_t s32k3xx_lpspi5status(FAR struct spi_dev_s *dev, uint32_t devid)
+{
+	return SPI_STATUS_PRESENT;
+}
+#endif /* CONFIG_S32K3XX_LPSPI5 */
+
+
+#endif /* CONFIG_S32K3XX_LPSPI0 */

boards/nxp/mr-canhubk3/src/timer_config.cpp

@@ -0,0 +1,115 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2016, 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * @file timer_config.c
+ *
+ * Configuration data for the kinetis pwm_servo, input capture and pwm input driver.
+ *
+ * Note that these arrays must always be fully-sized.
+ */
+
+// TODO:Stubbed out for now
+#include <stdint.h>
+
+#include "hardware/s32k3xx_emios.h"
+
+#include "board_config.h"
+
+#include <drivers/drv_pwm_output.h>
+#include <px4_arch/io_timer_hw_description.h>
+
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::EMIOS0)
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::EMIOS0, Timer::Channel0}, PIN_EMIOS0_CH0_1),
+	initIOTimerChannel(io_timers, {Timer::EMIOS0, Timer::Channel1}, PIN_EMIOS0_CH1_1),
+	initIOTimerChannel(io_timers, {Timer::EMIOS0, Timer::Channel2}, PIN_EMIOS0_CH2_1),
+	initIOTimerChannel(io_timers, {Timer::EMIOS0, Timer::Channel3}, PIN_EMIOS0_CH3_2),
+	initIOTimerChannel(io_timers, {Timer::EMIOS0, Timer::Channel4}, PIN_EMIOS0_CH4_2),
+	initIOTimerChannel(io_timers, {Timer::EMIOS0, Timer::Channel5}, PIN_EMIOS0_CH5_2),
+	initIOTimerChannel(io_timers, {Timer::EMIOS0, Timer::Channel6}, PIN_EMIOS0_CH6_1),
+	initIOTimerChannel(io_timers, {Timer::EMIOS0, Timer::Channel7}, PIN_EMIOS0_CH7_2),
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);
+
+const struct io_timers_t led_pwm_timers[MAX_LED_TIMERS] = {
+	{
+		.base = S32K3XX_EMIOS0_BASE,
+		.clock_register = 0,
+		.clock_bit = 0,
+		.vectorno_0_3 = 0,
+		.vectorno_4_7 = 0,
+		.vectorno_8_11 = 0,
+		.vectorno_12_15 = 0,
+		.vectorno_16_19 = 0,
+		.vectorno_20_23 = 0,
+	},
+	{
+		.base = S32K3XX_EMIOS1_BASE,
+		.clock_register = 0,
+		.clock_bit = 0,
+		.vectorno_0_3 = 0,
+		.vectorno_4_7 = 0,
+		.vectorno_8_11 = 0,
+		.vectorno_12_15 = 0,
+		.vectorno_16_19 = 0,
+		.vectorno_20_23 = 0,
+	},
+};
+
+const struct timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = {
+	{
+		.gpio_out = GPIO_LED_R, // RGB_R
+		.gpio_in  = 0,
+		.timer_index = 0,
+		.timer_channel = 19,
+	},
+	{
+		.gpio_out = GPIO_LED_G, // RGB_G
+		.gpio_in  = 0,
+		.timer_index = 1,
+		.timer_channel = 10,
+	},
+	{
+		.gpio_out = GPIO_LED_B, // RGB_B
+		.gpio_in  = 0,
+		.timer_index = 1,
+		.timer_channel = 5,
+	},
+};

platforms/common/include/px4_platform_common/board_common.h

@@ -340,6 +340,7 @@ typedef enum PX4_SOC_ARCH_ID_t {
 	PX4_SOC_ARCH_ID_STM32H7        =  0x0006,
 
 	PX4_SOC_ARCH_ID_NXPS32K146     =  0x0007,
+	PX4_SOC_ARCH_ID_NXPS32K344     =  0x0008,
 
 	PX4_SOC_ARCH_ID_EAGLE          =  0x1001,
 	PX4_SOC_ARCH_ID_QURT           =  0x1002,

platforms/nuttx/cmake/px4_impl_os.cmake

@@ -133,6 +133,9 @@ function(px4_os_determine_build_chip)
 	elseif(CONFIG_ARCH_CHIP_S32K146)
 		set(CHIP_MANUFACTURER "nxp")
 		set(CHIP "s32k14x")
+	elseif(CONFIG_ARCH_CHIP_S32K344)
+		set(CHIP_MANUFACTURER "nxp")
+		set(CHIP "s32k34x")
 	elseif(CONFIG_ARCH_CHIP_RP2040)
 		set(CHIP_MANUFACTURER "rpi")
 		set(CHIP "rp2040")

platforms/nuttx/src/px4/nxp/s32k34x/CMakeLists.txt

@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_subdirectory(../s32k3xx/adc adc)
+add_subdirectory(../s32k3xx/board_reset board_reset)
+add_subdirectory(../s32k3xx/board_critmon board_critmon)
+add_subdirectory(../s32k3xx/led_pwm led_pwm)
+add_subdirectory(../s32k3xx/hrt hrt)
+add_subdirectory(../s32k3xx/io_pins io_pins)
+add_subdirectory(../s32k3xx/tone_alarm tone_alarm)
+add_subdirectory(../s32k3xx/version version)

platforms/nuttx/src/px4/nxp/s32k34x/include/px4_arch/adc.h

@@ -0,0 +1,35 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#pragma once
+
+#include "../../../s32k3xx/include/px4_arch/adc.h"

platforms/nuttx/src/px4/nxp/s32k34x/include/px4_arch/hw_description.h

@@ -0,0 +1,36 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#pragma once
+
+
+#include "../../../s32k3xx/include/px4_arch/hw_description.h"

platforms/nuttx/src/px4/nxp/s32k34x/include/px4_arch/i2c_hw_description.h

@@ -0,0 +1,55 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#pragma once
+
+#include <px4_arch/hw_description.h>
+#include <px4_platform_common/i2c.h>
+
+#if defined(CONFIG_I2C)
+
+static inline constexpr px4_i2c_bus_t initI2CBusInternal(int bus)
+{
+	px4_i2c_bus_t ret{};
+	ret.bus = bus;
+	ret.is_external = false;
+	return ret;
+}
+
+static inline constexpr px4_i2c_bus_t initI2CBusExternal(int bus)
+{
+	px4_i2c_bus_t ret{};
+	ret.bus = bus;
+	ret.is_external = true;
+	return ret;
+}
+#endif // CONFIG_I2C

platforms/nuttx/src/px4/nxp/s32k34x/include/px4_arch/io_timer.h

@@ -0,0 +1,35 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#pragma once
+
+#include "../../../s32k3xx/include/px4_arch/io_timer.h"

platforms/nuttx/src/px4/nxp/s32k34x/include/px4_arch/io_timer_hw_description.h

@@ -0,0 +1,36 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#pragma once
+
+
+#include "../../../s32k3xx/include/px4_arch/io_timer_hw_description.h"

platforms/nuttx/src/px4/nxp/s32k34x/include/px4_arch/micro_hal.h

@@ -0,0 +1,124 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#pragma once
+
+
+#include "../../../nxp_common/include/px4_arch/micro_hal.h"
+
+__BEGIN_DECLS
+
+#define PX4_SOC_ARCH_ID             PX4_SOC_ARCH_ID_NXPS32K344
+
+// Fixme: using ??
+#define PX4_BBSRAM_SIZE             2048
+#define PX4_BBSRAM_GETDESC_IOCTL    0
+#define PX4_NUMBER_I2C_BUSES        2
+
+#define GPIO_OUTPUT_SET             GPIO_OUTPUT_ONE
+#define GPIO_OUTPUT_CLEAR           GPIO_OUTPUT_ZERO
+
+#include <chip.h>
+#include <s32k3xx_pin.h>
+#include <s32k3xx_lpspi.h>
+#include <s32k3xx_lpi2c.h>
+#include <s32k3xx_flexcan.h>
+//#include <s32k3xx_uid.h>
+
+/* s32k3xx defines the 128 bit UUID as
+ *  init32_t[4] that can be read as words
+ *  init32_t[0] PX4_CPU_UUID_ADDRESS[0] bits 127:96 (offset 0)
+ *  init32_t[1] PX4_CPU_UUID_ADDRESS[1] bits 95:64  (offset 4)
+ *  init32_t[2] PX4_CPU_UUID_ADDRESS[1] bits 63:32  (offset 8)
+ *  init32_t[3] PX4_CPU_UUID_ADDRESS[3] bits 31:0   (offset C)
+ *
+ *  PX4 uses the words in bigendian order MSB to LSB
+ *   word  [0]    [1]    [2]   [3]
+ *   bits 127:96  95-64  63-32, 31-00,
+ */
+#define PX4_CPU_UUID_BYTE_LENGTH                16
+#define PX4_CPU_UUID_WORD32_LENGTH              (PX4_CPU_UUID_BYTE_LENGTH/sizeof(uint32_t))
+
+/* The mfguid will be an array of bytes with
+ * MSD @ index 0 - LSD @ index PX4_CPU_MFGUID_BYTE_LENGTH-1
+ *
+ * It will be converted to a string with the MSD on left and LSD on the right most position.
+ */
+#define PX4_CPU_MFGUID_BYTE_LENGTH              PX4_CPU_UUID_BYTE_LENGTH
+
+/* define common formating across all commands */
+
+#define PX4_CPU_UUID_WORD32_FORMAT              "%08x"
+#define PX4_CPU_UUID_WORD32_SEPARATOR           ":"
+
+#define PX4_CPU_UUID_WORD32_UNIQUE_H            3 /* Least significant digits change the most */
+#define PX4_CPU_UUID_WORD32_UNIQUE_M            2 /* Middle High significant digits */
+#define PX4_CPU_UUID_WORD32_UNIQUE_L            1 /* Middle Low significant digits */
+#define PX4_CPU_UUID_WORD32_UNIQUE_N            0 /* Most significant digits change the least */
+
+/*                                               Separator    nnn:nnn:nnnn     2 char per byte           term */
+#define PX4_CPU_UUID_WORD32_FORMAT_SIZE         (PX4_CPU_UUID_WORD32_LENGTH-1+(2*PX4_CPU_UUID_BYTE_LENGTH)+1)
+#define PX4_CPU_MFGUID_FORMAT_SIZE              ((2*PX4_CPU_MFGUID_BYTE_LENGTH)+1)
+
+/* bus_num is zero based on s32k3xx and must be translated from the legacy one based */
+
+#define PX4_BUS_OFFSET       1                  /* s32k3xx buses are 0 based and adjustment is needed */
+
+#define px4_spibus_initialize(bus_num_1based)   s32k3xx_lpspibus_initialize(PX4_BUS_NUMBER_FROM_PX4(bus_num_1based))
+
+#define px4_i2cbus_initialize(bus_num_1based)   s32k3xx_i2cbus_initialize(PX4_BUS_NUMBER_FROM_PX4(bus_num_1based))
+#define px4_i2cbus_uninitialize(pdev)           s32k3xx_i2cbus_uninitialize(pdev)
+
+#define px4_arch_configgpio(pinset)             s32k3xx_pinconfig(pinset)
+#define px4_arch_unconfiggpio(pinset)
+#define px4_arch_gpioread(pinset)               s32k3xx_gpioread(pinset)
+#define px4_arch_gpiowrite(pinset, value)       s32k3xx_gpiowrite(pinset, value)
+
+/* s32k3xx_gpiosetevent is added at PX4 level */
+
+int s32k3xx_gpiosetevent(uint32_t pinset, bool risingedge, bool fallingedge, bool event, xcpt_t func, void *arg);
+
+#define px4_arch_gpiosetevent(pinset,r,f,e,fp,a)  s32k3xx_gpiosetevent(pinset,r,f,e,fp,a)
+
+
+/* CAN bootloader usage */
+
+#define TIMER_HRT_CYCLES_PER_US (STM32_HCLK_FREQUENCY/1000000)
+#define TIMER_HRT_CYCLES_PER_MS (STM32_HCLK_FREQUENCY/1000)
+
+#define crc_HiLOC       S32K1XX_CAN0_RXIMR27
+#define crc_LoLOC       S32K1XX_CAN0_RXIMR28
+#define signature_LOC   S32K1XX_CAN0_RXIMR29
+#define bus_speed_LOC   S32K1XX_CAN0_RXIMR30
+#define node_id_LOC     S32K1XX_CAN0_RXIMR31
+
+__END_DECLS

platforms/nuttx/src/px4/nxp/s32k34x/include/px4_arch/spi_hw_description.h

@@ -0,0 +1,86 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#pragma once
+
+#include "../../../s32k3xx/include/px4_arch/spi_hw_description.h"
+
+constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX_BUS_ITEMS])
+{
+	const bool nuttx_enabled_spi_buses[] = {
+#ifdef CONFIG_S32K3XX_LPSPI0
+		true,
+#else
+		false,
+#endif
+#ifdef CONFIG_S32K3XX_LPSPI1
+		true,
+#else
+		false,
+#endif
+#ifdef CONFIG_S32K3XX_LPSPI2
+		true,
+#else
+		false,
+#endif
+#ifdef CONFIG_S32K3XX_LPSPI3
+		true,
+#else
+		false,
+#endif
+#ifdef CONFIG_S32K3XX_LPSPI4
+		true,
+#else
+		false,
+#endif
+#ifdef CONFIG_S32K3XX_LPSPI5
+		true,
+#else
+		false,
+#endif
+	};
+
+	for (unsigned i = 0; i < sizeof(nuttx_enabled_spi_buses) / sizeof(nuttx_enabled_spi_buses[0]); ++i) {
+		bool found_bus = false;
+
+		for (int j = 0; j < SPI_BUS_MAX_BUS_ITEMS; ++j) {
+			if (spi_busses_conf[j].bus == (int)i + 1) {
+				found_bus = true;
+			}
+		}
+
+		// Either the bus is enabled in NuttX and configured in spi_busses_conf, or disabled and not configured
+		constexpr_assert(found_bus == nuttx_enabled_spi_buses[i], "SPI bus config mismatch (CONFIG_S32K3XX_LPSPIn)");
+	}
+
+	return false;
+}

platforms/nuttx/src/px4/nxp/s32k3xx/adc/CMakeLists.txt

@@ -0,0 +1,36 @@
+############################################################################
+#
+#   Copyright (c) 2015-2019 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(arch_adc
+	adc.cpp
+)

platforms/nuttx/src/px4/nxp/s32k3xx/adc/adc.cpp

@@ -0,0 +1,195 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <board_config.h>
+#include <drivers/drv_adc.h>
+#include <drivers/drv_hrt.h>
+#include <px4_arch/adc.h>
+
+#include <nuttx/analog/adc.h>
+
+#include <hardware/s32k1xx_sim.h>
+
+//todo S32K add ADC fior now steal the kinetis one
+#include <kinetis.h>
+#include <hardware/kinetis_adc.h>
+
+
+#define _REG(_addr)	(*(volatile uint32_t *)(_addr))
+
+/* ADC register accessors */
+
+#define REG(a, _reg)	_REG(KINETIS_ADC##a##_BASE + (_reg))
+
+#define rSC1A(adc)  REG(adc, KINETIS_ADC_SC1A_OFFSET) /* ADC status and control registers 1 */
+#define rSC1B(adc)  REG(adc, KINETIS_ADC_SC1B_OFFSET) /* ADC status and control registers 1 */
+#define rCFG1(adc)  REG(adc, KINETIS_ADC_CFG1_OFFSET) /* ADC configuration register 1 */
+#define rCFG2(adc)  REG(adc, KINETIS_ADC_CFG2_OFFSET) /* Configuration register 2 */
+#define rRA(adc)    REG(adc, KINETIS_ADC_RA_OFFSET)   /* ADC data result register */
+#define rRB(adc)    REG(adc, KINETIS_ADC_RB_OFFSET)   /* ADC data result register */
+#define rCV1(adc)   REG(adc, KINETIS_ADC_CV1_OFFSET)  /* Compare value registers */
+#define rCV2(adc)   REG(adc, KINETIS_ADC_CV2_OFFSET)  /* Compare value registers */
+#define rSC2(adc)   REG(adc, KINETIS_ADC_SC2_OFFSET)  /* Status and control register 2 */
+#define rSC3(adc)   REG(adc, KINETIS_ADC_SC3_OFFSET)  /* Status and control register 3 */
+#define rOFS(adc)   REG(adc, KINETIS_ADC_OFS_OFFSET)  /* ADC offset correction register */
+#define rPG(adc)    REG(adc, KINETIS_ADC_PG_OFFSET)   /* ADC plus-side gain register */
+#define rMG(adc)    REG(adc, KINETIS_ADC_MG_OFFSET)   /* ADC minus-side gain register */
+#define rCLPD(adc)  REG(adc, KINETIS_ADC_CLPD_OFFSET) /* ADC plus-side general calibration value register */
+#define rCLPS(adc)  REG(adc, KINETIS_ADC_CLPS_OFFSET) /* ADC plus-side general calibration value register */
+#define rCLP4(adc)  REG(adc, KINETIS_ADC_CLP4_OFFSET) /* ADC plus-side general calibration value register */
+#define rCLP3(adc)  REG(adc, KINETIS_ADC_CLP3_OFFSET) /* ADC plus-side general calibration value register */
+#define rCLP2(adc)  REG(adc, KINETIS_ADC_CLP2_OFFSET) /* ADC plus-side general calibration value register */
+#define rCLP1(adc)  REG(adc, KINETIS_ADC_CLP1_OFFSET) /* ADC plus-side general calibration value register */
+#define rCLP0(adc)  REG(adc, KINETIS_ADC_CLP0_OFFSET) /* ADC plus-side general calibration value register */
+#define rCLMD(adc)  REG(adc, KINETIS_ADC_CLMD_OFFSET) /* ADC minus-side general calibration value register */
+#define rCLMS(adc)  REG(adc, KINETIS_ADC_CLMS_OFFSET) /* ADC minus-side general calibration value register */
+#define rCLM4(adc)  REG(adc, KINETIS_ADC_CLM4_OFFSET) /* ADC minus-side general calibration value register */
+#define rCLM3(adc)  REG(adc, KINETIS_ADC_CLM3_OFFSET) /* ADC minus-side general calibration value register */
+#define rCLM2(adc)  REG(adc, KINETIS_ADC_CLM2_OFFSET) /* ADC minus-side general calibration value register */
+#define rCLM1(adc)  REG(adc, KINETIS_ADC_CLM1_OFFSET) /* ADC minus-side general calibration value register */
+#define rCLM0(adc)  REG(adc, KINETIS_ADC_CLM0_OFFSET) /* ADC minus-side general calibration value register */
+
+int px4_arch_adc_init(uint32_t base_address)
+{
+	/* Input is Buss Clock 56 Mhz We will use /8 for 7 Mhz */
+
+	irqstate_t flags = px4_enter_critical_section();
+
+	_REG(KINETIS_SIM_SCGC3) |= SIM_SCGC3_ADC1;
+	rCFG1(1) = ADC_CFG1_ADICLK_BUSCLK | ADC_CFG1_MODE_1213BIT | ADC_CFG1_ADIV_DIV8;
+	rCFG2(1) = 0;
+	rSC2(1) = ADC_SC2_REFSEL_DEFAULT;
+
+	px4_leave_critical_section(flags);
+
+	/* Clear the CALF and begin the calibration */
+
+	rSC3(1) = ADC_SC3_CAL | ADC_SC3_CALF;
+
+	while ((rSC1A(1) & ADC_SC1_COCO) == 0) {
+		usleep(100);
+
+		if (rSC3(1) & ADC_SC3_CALF) {
+			return -1;
+		}
+	}
+
+	/* dummy read to clear COCO of calibration */
+
+	int32_t r = rRA(1);
+
+	/* Check the state of CALF at the end of calibration */
+
+	if (rSC3(1) & ADC_SC3_CALF) {
+		return -1;
+	}
+
+	/* Calculate the calibration values for single ended positive */
+
+	r = rCLP0(1) + rCLP1(1)  + rCLP2(1)  + rCLP3(1)  + rCLP4(1)  + rCLPS(1) ;
+	r = 0x8000U | (r >> 1U);
+	rPG(1) = r;
+
+	/* Calculate the calibration values for double ended Negitive */
+
+	r = rCLM0(1) + rCLM1(1)  + rCLM2(1)  + rCLM3(1)  + rCLM4(1)  + rCLMS(1) ;
+	r = 0x8000U | (r >> 1U);
+	rMG(1) = r;
+
+	/* kick off a sample and wait for it to complete */
+	hrt_abstime now = hrt_absolute_time();
+
+	rSC1A(1) =  ADC_SC1_ADCH(ADC_SC1_ADCH_TEMP);
+
+	while (!(rSC1A(1) & ADC_SC1_COCO)) {
+
+		/* don't wait for more than 500us, since that means something broke - should reset here if we see this */
+		if ((hrt_absolute_time() - now) > 500) {
+			return -1;
+		}
+	}
+
+	return 0;
+}
+
+void px4_arch_adc_uninit(uint32_t base_address)
+{
+	irqstate_t flags = px4_enter_critical_section();
+	_REG(KINETIS_SIM_SCGC3) &= ~SIM_SCGC3_ADC1;
+	px4_leave_critical_section(flags);
+}
+
+uint32_t px4_arch_adc_sample(uint32_t base_address, unsigned channel)
+{
+	irqstate_t flags = px4_enter_critical_section();
+
+	/* clear any previous COCC */
+	rRA(1);
+
+	/* run a single conversion right now - should take about 35 cycles (5 microseconds) max */
+	rSC1A(1) = ADC_SC1_ADCH(channel);
+
+	/* wait for the conversion to complete */
+	const hrt_abstime now = hrt_absolute_time();
+
+	while (!(rSC1A(1) & ADC_SC1_COCO)) {
+
+		/* don't wait for more than 10us, since that means something broke - should reset here if we see this */
+		if ((hrt_absolute_time() - now) > 10) {
+			px4_leave_critical_section(flags);
+			return 0xffff;
+		}
+	}
+
+	/* read the result and clear EOC */
+	uint32_t result = rRA(1);
+
+	px4_leave_critical_section(flags);
+
+	return result;
+}
+
+float px4_arch_adc_reference_v()
+{
+	return BOARD_ADC_POS_REF_V;	// TODO: provide true vref
+}
+
+uint32_t px4_arch_adc_temp_sensor_mask()
+{
+	return 1 << (ADC_SC1_ADCH_TEMP >> ADC_SC1_ADCH_SHIFT);
+}
+
+uint32_t px4_arch_adc_dn_fullcount()
+{
+	return 1 << 12; // 12 bit ADC
+}

platforms/nuttx/src/px4/nxp/s32k3xx/board_critmon/CMakeLists.txt

@@ -0,0 +1,36 @@
+############################################################################
+#
+#   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(arch_board_critmon
+	board_critmon.c
+)

platforms/nuttx/src/px4/nxp/s32k3xx/board_critmon/board_critmon.c

@@ -0,0 +1,66 @@
+/************************************************************************************
+ *
+ *   Copyright (C) 2018 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+#include <arch/board/board.h>
+
+#if defined(CONFIG_SCHED_CRITMONITOR) || defined(CONFIG_SCHED_IRQMONITOR)
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+#error "missing implementation for up_critmon_gettime() and up_critmon_convert()"
+
+/************************************************************************************
+ * Name: up_critmon_gettime
+ ************************************************************************************/
+
+// uint32_t up_critmon_gettime(void)
+// {
+// }
+
+/************************************************************************************
+ * Name: up_critmon_convert
+ ************************************************************************************/
+
+// void up_critmon_convert(uint32_t elapsed, FAR struct timespec *ts)
+// {
+// }
+
+#endif /* CONFIG_SCHED_CRITMONITOR */

platforms/nuttx/src/px4/nxp/s32k3xx/board_reset/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(arch_board_reset
+	board_reset.cpp
+)
+
+# up_systemreset
+if (NOT DEFINED CONFIG_BUILD_FLAT)
+	target_link_libraries(arch_board_reset PRIVATE nuttx_karch)
+else()
+	target_link_libraries(arch_board_reset PRIVATE nuttx_arch)
+endif()

platforms/nuttx/src/px4/nxp/s32k3xx/board_reset/board_reset.cpp

@@ -0,0 +1,95 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2017 PX4 Development Team. All rights reserved.
+ *   Author: @author Peter van der Perk <peter.vanderperk@nxp.com>
+ *                   David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_reset.cpp
+ * Implementation of kinetis based Board RESET API
+ */
+
+#include <px4_platform_common/px4_config.h>
+#include <errno.h>
+#include <nuttx/board.h>
+#include <hardware/s32k3xx_mc_me.h>
+
+
+#ifdef CONFIG_BOARDCTL_RESET
+
+static int board_reset_enter_bootloader()
+{
+	putreg32(MC_ME_MODE_CONF_FUNC_RST, S32K3XX_MC_ME_MODE_CONF);
+	putreg32(MC_ME_MODE_UPD, S32K3XX_MC_ME_MODE_UPD);
+	putreg32(0x5AF0, S32K3XX_MC_ME_CTL_KEY);
+	putreg32(~0x5AF0, S32K3XX_MC_ME_CTL_KEY);
+
+	while (getreg32(S32K3XX_MC_ME_MODE_UPD) & MC_ME_MODE_UPD);
+
+	return OK;
+}
+
+/****************************************************************************
+ * Name: board_reset
+ *
+ * Description:
+ *   Reset board.  Support for this function is required by board-level
+ *   logic if CONFIG_BOARDCTL_RESET is selected.
+ *
+ * Input Parameters:
+ *   status - Status information provided with the reset event.  This
+ *            meaning of this status information is board-specific.  If not
+ *            used by a board, the value zero may be provided in calls to
+ *            board_reset().
+ *
+ * Returned Value:
+ *   If this function returns, then it was not possible to power-off the
+ *   board due to some constraints.  The return value int this case is a
+ *   board-specific reason for the failure to shutdown.
+ *
+ ****************************************************************************/
+
+int board_reset(int status)
+{
+	if (status == 1) {
+		board_reset_enter_bootloader();
+	}
+
+#if defined(BOARD_HAS_ON_RESET)
+	board_on_reset(status);
+#endif
+
+	up_systemreset();
+	return 0;
+}
+
+#endif /* CONFIG_BOARDCTL_RESET */

platforms/nuttx/src/px4/nxp/s32k3xx/hrt/CMakeLists.txt

@@ -0,0 +1,37 @@
+############################################################################
+#
+#   Copyright (c) 2015-2019 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(arch_hrt
+	hrt.c
+)
+target_compile_options(arch_hrt PRIVATE -Wno-cast-align) # TODO: fix and enable