Add nxp imxrt device support

2026-05-23 14:47:44 +08:00 · 2019-12-04 10:58:07 -08:00
parent 92e75452f5
commit 490fe8256f
31 changed files with 4451 additions and 1 deletions
@@ -380,6 +380,7 @@ typedef enum PX4_SOC_ARCH_ID_t {
 	PX4_SOC_ARCH_ID_STM32F7        =  0x0002,
 	PX4_SOC_ARCH_ID_KINETISK66     =  0x0003,
 	PX4_SOC_ARCH_ID_SAMV7          =  0x0004,
+	PX4_SOC_ARCH_ID_NXPIMXRT1062   =  0x0005,

 	PX4_SOC_ARCH_ID_STM32H7        =  0x0006,

@@ -178,7 +178,10 @@ configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/gdbinit.in ${PX4_BINARY_DIR}/.g
 # vscode launch.json
 #  FIXME: hack to skip if px4_io-v2 because it's a built within another build (eg px4_fmu-v5)
 if(NOT PX4_BOARD MATCHES "px4_io-v2")
-	if(CONFIG_ARCH_CHIP_MK66FN2M0VMD18)
+	if(CONFIG_ARCH_CHIP_MIMXRT1062DVL6A)
+		set(DEBUG_DEVICE "MIMXRT1062XXX6A")
+		set(DEBUG_SVD_FILE "MIMXRT1052.svd")
+	elseif(CONFIG_ARCH_CHIP_MK66FN2M0VMD18)
 		set(DEBUG_DEVICE "MK66FN2M0xxx18")
 		set(DEBUG_SVD_FILE "MK66F18.svd")
 	elseif(CONFIG_ARCH_CHIP_STM32F100C8)
@@ -118,6 +118,9 @@ function(px4_os_determine_build_chip)
 	elseif(CONFIG_ARCH_CHIP_MK66FN2M0VMD18)
 		set(CHIP_MANUFACTURER "nxp")
 		set(CHIP "k66")
+	elseif(CONFIG_ARCH_CHIP_MIMXRT1062DVL6A)
+		set(CHIP_MANUFACTURER "nxp")
+		set(CHIP "rt106x")
 	else()
 		message(FATAL_ERROR "Could not determine chip architecture from NuttX config. You may have to add it.")
 	endif()
@@ -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
+)
@@ -0,0 +1,197 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2018-2019 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file adc.cpp
+ *
+ * Driver for the imxrt ADC.
+ *
+ * This is a low-rate driver, designed for sampling things like voltages
+ * and so forth. It avoids the gross complexity of the NuttX ADC driver.
+ */
+
+#include <board_config.h>
+#include <stdint.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_adc.h>
+#include <px4_arch/adc.h>
+
+#include <hardware/imxrt_adc.h>
+#include <imxrt_periphclks.h>
+
+typedef uint32_t 	adc_chan_t;
+#define ADC_TOTAL_CHANNELS 		16
+
+#define _REG(_addr)	(*(volatile uint32_t *)(_addr))
+
+/* ADC register accessors */
+
+#define REG(base_address, _reg)	_REG((base_address) + (_reg))
+
+#define rHC0(base_address)  REG(base_address, IMXRT_ADC_HC0_OFFSET)  /* Control register for hardware triggers */
+#define rHC1(base_address)  REG(base_address, IMXRT_ADC_HC1_OFFSET)  /* Control register for hardware triggers */
+#define rHC2(base_address)  REG(base_address, IMXRT_ADC_HC2_OFFSET)  /* Control register for hardware triggers */
+#define rHC3(base_address)  REG(base_address, IMXRT_ADC_HC3_OFFSET)  /* Control register for hardware triggers */
+#define rHC4(base_address)  REG(base_address, IMXRT_ADC_HC4_OFFSET)  /* Control register for hardware triggers */
+#define rHC5(base_address)  REG(base_address, IMXRT_ADC_HC5_OFFSET)  /* Control register for hardware triggers */
+#define rHC6(base_address)  REG(base_address, IMXRT_ADC_HC6_OFFSET)  /* Control register for hardware triggers */
+#define rHC7(base_address)  REG(base_address, IMXRT_ADC_HC7_OFFSET)  /* Control register for hardware triggers */
+#define rHS(base_address)   REG(base_address, IMXRT_ADC_HS_OFFSET)   /* Status register for HW triggers */
+#define rR0(base_address)   REG(base_address, IMXRT_ADC_R0_OFFSET)   /* Data result register for HW triggers */
+#define rR1(base_address)   REG(base_address, IMXRT_ADC_R1_OFFSET)   /* Data result register for HW triggers */
+#define rR2(base_address)   REG(base_address, IMXRT_ADC_R2_OFFSET)   /* Data result register for HW triggers */
+#define rR3(base_address)   REG(base_address, IMXRT_ADC_R3_OFFSET)   /* Data result register for HW triggers */
+#define rR4(base_address)   REG(base_address, IMXRT_ADC_R4_OFFSET)   /* Data result register for HW triggers */
+#define rR5(base_address)   REG(base_address, IMXRT_ADC_R5_OFFSET)   /* Data result register for HW triggers */
+#define rR6(base_address)   REG(base_address, IMXRT_ADC_R6_OFFSET)   /* Data result register for HW triggers */
+#define rR7(base_address)   REG(base_address, IMXRT_ADC_R7_OFFSET)   /* Data result register for HW triggers */
+#define rCFG(base_address)  REG(base_address, IMXRT_ADC_CFG_OFFSET)  /* Configuration register */
+#define rGC(base_address)   REG(base_address, IMXRT_ADC_GC_OFFSET)   /* General control register */
+#define rGS(base_address)   REG(base_address, IMXRT_ADC_GS_OFFSET)   /* General status register */
+#define rCV(base_address)   REG(base_address, IMXRT_ADC_CV_OFFSET)   /* Compare value register */
+#define rOFS(base_address)  REG(base_address, IMXRT_ADC_OFS_OFFSET)  /* Offset correction value register */
+#define rCAL(base_address)  REG(base_address, IMXRT_ADC_CAL_OFFSET)  /* Calibration value register */
+
+
+int px4_arch_adc_init(uint32_t base_address)
+{
+	static bool once = false;
+
+	if (!once) {
+
+		once = true;
+
+		/* Input is Buss Clock 56 Mhz We will use /8 for 7 Mhz */
+
+		irqstate_t flags = px4_enter_critical_section();
+
+		imxrt_clockall_adc1();
+
+		rCFG(base_address) = ADC_CFG_ADICLK_IPGDIV2 | ADC_CFG_MODE_12BIT | \
+				     ADC_CFG_ADIV_DIV8 | ADC_CFG_ADLSMP | ADC_CFG_ADSTS_6_20 | \
+				     ADC_CFG_AVGS_4SMPL | ADC_CFG_OVWREN;
+		px4_leave_critical_section(flags);
+
+		/* Clear the CALF and begin the calibration */
+
+		rGS(base_address) = ADC_GS_CALF;
+		rGC(base_address) = ADC_GC_CAL;
+		uint32_t guard = 100;
+
+		while (guard != 0 && (rGS(base_address) & ADC_GC_CAL) == 0) {
+			guard--;
+			usleep(1);
+		}
+
+		while ((rGS(base_address) & ADC_GC_CAL) == ADC_GC_CAL) {
+
+			usleep(100);
+
+			if (rGS(base_address) & ADC_GS_CALF) {
+				return -1;
+			}
+		}
+
+		if ((rHS(base_address) & ADC_HS_COCO0) == 0) {
+			return -2;
+		}
+
+		if (rGS(base_address) & ADC_GS_CALF) {
+			return -3;
+		}
+
+		/* dummy read to clear COCO of calibration */
+
+		int32_t r = rR0(base_address);
+		UNUSED(r);
+
+		/* kick off a sample and wait for it to complete */
+		hrt_abstime now = hrt_absolute_time();
+		rGC(base_address) = ADC_GC_AVGE;
+		rHC0(base_address) =  0xd; // VREFSH = internal channel, for ADC self-test, hard connected to VRH internally
+
+		while (!(rHS(base_address) & ADC_HS_COCO0)) {
+
+			/* 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 -4;
+			}
+		}
+
+		r = rR0(base_address);
+	} // once
+
+	return 0;
+}
+void px4_arch_adc_uninit(uint32_t base_address)
+{
+	imxrt_clockoff_adc1();
+}
+
+uint32_t px4_arch_adc_sample(uint32_t base_address, unsigned channel)
+{
+
+	/* clear any previous COCO0 */
+
+	uint16_t result = rR0(base_address);
+
+	rHC0(base_address) =  channel;
+
+	/* wait for the conversion to complete */
+	hrt_abstime now = hrt_absolute_time();
+
+	while (!(rHS(base_address) & ADC_HS_COCO0)) {
+		/* don't wait for more than 50us, since that means something broke
+		 *  should reset here if we see this
+		 */
+		if ((hrt_absolute_time() - now) > 50) {
+			return 0xffff;
+		}
+	}
+
+	/* read the result and clear  COCO0 */
+	result  = rR0(base_address);
+	return result;
+}
+uint32_t px4_arch_adc_temp_sensor_mask()
+{
+	return 0;
+}
+
+uint32_t px4_arch_adc_dn_fullcount(void)
+{
+	return 1 << 12; // 12 bit ADC
+}
@@ -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
+)
@@ -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 */
@@ -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_hw_info
+	board_hw_rev_ver.c
+)
@@ -0,0 +1,350 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2019 PX4 Development Team. All rights reserved.
+ *   Author: @author 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_hw_rev_ver.c
+ * Implementation of IMXRT based Board Hardware Revision and Version ID API
+ */
+#include <drivers/drv_adc.h>
+#include <px4_arch/adc.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform/board_determine_hw_info.h>
+#include <stdio.h>
+#include <board_config.h>
+
+#include <systemlib/px4_macros.h>
+
+#if defined(BOARD_HAS_HW_VERSIONING)
+
+#  if defined(GPIO_HW_VER_REV_DRIVE)
+#    define GPIO_HW_REV_DRIVE GPIO_HW_VER_REV_DRIVE
+#    define GPIO_HW_VER_DRIVE GPIO_HW_VER_REV_DRIVE
+#  endif
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+static int hw_version = 0;
+static int hw_revision = 0;
+static char hw_info[] = HW_INFO_INIT;
+
+/****************************************************************************
+ * Protected Functions
+ ****************************************************************************/
+/****************************************************************************
+  * Name: determin_hw_version
+ *
+ * Description:
+ *
+ * This function fist determines if revision  and version resistors are in place.
+ * if they it will read the ADC channels and decode the DN to ordinal numbers
+ * that will be returned by board_get_hw_version and board_get_hw_revision API
+ *
+ *  This will return OK on success and -1 on not supported
+*
+ *
+ ****************************************************************************/
+
+static int dn_to_ordinal(uint16_t dn)
+{
+
+	const struct {
+		uint16_t low;  // High(n-1) + 1
+		uint16_t high; // Average High(n)+Low(n+1) EX. 1356 = AVRG(1331,1382)
+	} dn2o[] = {
+		//   R1(up) R2(down)    V min       V Max       DN Min DN Max
+		{0,   0   },   // 0                     No Resistors
+		{1,   579 },   // 1  24.9K   442K   0.166255191  0.44102252    204    553
+		{580, 967 },   // 2  32.4K   174K   0.492349322  0.770203609   605    966
+		{968, 1356},   // 3  38.3K   115K   0.787901749  1.061597759   968    1331
+		{1357, 1756},  // 4  46.4K   84.5K  1.124833577  1.386007306   1382   1738
+		{1757, 2137},  // 5  51.1K   61.9K  1.443393279  1.685367869   1774   2113
+		{2138, 2519},  // 6  61.9K   51.1K  1.758510242  1.974702534   2161   2476
+		{2520, 2919},  // 7  84.5K   46.4K  2.084546498  2.267198261   2562   2842
+		{2920, 3308},  // 8  115K    38.3K  2.437863827  2.57656294    2996   3230
+		{3309, 3699},  // 9  174K    32.4K  2.755223792  2.847933804   3386   3571
+		{3700, 4095},  // 10 442K    24.9K  3.113737849  3.147347506   3827   3946
+	};
+
+	for (unsigned int i = 0; i < arraySize(dn2o); i++) {
+		if (dn >= dn2o[i].low && dn <= dn2o[i].high) {
+			return i;
+		}
+	}
+
+	return -1;
+}
+
+/************************************************************************************
+ * Name: read_id_dn
+ *
+ * Description:
+ *   Read the HW sense set to get a DN of the value formed by
+ *                0 VDD
+ *                |
+ *                /
+ *                \   R1
+ *                /
+ *                |
+ *                +--------------- GPIO_HW_xxx_SENCE  | ADC channel N
+ *                |
+ *                /
+ *                \ R2
+ *                /
+ *                |
+ *                |
+ *                +--------------- GPIO_HW_xxx_DRIVE or GPIO_HW_VER_REV_DRIVE
+ *
+ * Input Parameters:
+ *   id          - pointer to receive the dn for the id set
+ *   gpio_drive  - gpio that is the drive
+ *   gpio_sense  - gpio that is the sence
+ *   adc_channel - the Channel number associated with gpio_sense
+ *
+ * Returned Value:
+ *    0    - Success and id is set
+ *   -EIO  - FAiled to init or read the ADC
+ *
+ ************************************************************************************/
+
+static int read_id_dn(int *id, uint32_t gpio_drive, uint32_t gpio_sense, int adc_channel)
+{
+	int rv = -EIO;
+	const unsigned int samples  = 16;
+	/*
+	 * Step one is there resistors?
+	 *
+	 * If we set the mid-point of the ladder which is the ADC input to an
+	 * output, then whatever state is driven out should be seen by the GPIO
+	 * that is on the bottom of the ladder that is switched to an input.
+	 * The SENCE line is effectively an output with a high value pullup
+	 * resistor on it driving an input through a series resistor with a pull up.
+	 * If present the series resistor will form a low pass filter due to stray
+	 * capacitance, but this is fine as long as we give it time to settle.
+	 */
+
+	/*  Turn the drive lines to digital inputs with No pull up */
+
+	imxrt_config_gpio(_MK_GPIO_INPUT(gpio_drive) & ~IOMUX_PULL_MASK);
+
+	/*  Turn the sense lines to digital outputs LOW */
+
+	imxrt_config_gpio(_MK_GPIO_OUTPUT(gpio_sense));
+
+
+	up_udelay(100); /* About 10 TC assuming 485 K */
+
+	/*  Read Drive lines while sense are driven low */
+
+	int low = imxrt_gpio_read(_MK_GPIO_INPUT(gpio_drive));
+
+
+	/*  Write the sense lines HIGH */
+
+	imxrt_gpio_write(_MK_GPIO_OUTPUT(gpio_sense), 1);
+
+	up_udelay(100); /* About 10 TC assuming 485 K */
+
+	/*  Read Drive lines while sense are driven high */
+
+	int high = imxrt_gpio_read(_MK_GPIO_INPUT(gpio_drive));
+
+	/* restore the pins to ANALOG */
+
+	imxrt_config_gpio(gpio_sense);
+
+	/*  Turn the drive lines to digital outputs LOW */
+
+	imxrt_config_gpio(gpio_drive ^ GPIO_OUTPUT_SET);
+
+	up_udelay(100); /* About 10 TC assuming 485 K */
+
+	/* Are Resistors in place ?*/
+
+	uint32_t dn_sum = 0;
+	uint16_t dn = 0;
+#if defined(ON_EVK)
+
+	if (1 || high || low) { // no if
+#else
+	if ((high ^ low) && low == 0) {
+#endif
+		/* Yes - Fire up the ADC (it has once control) */
+
+		if (px4_arch_adc_init(HW_REV_VER_ADC_BASE) == OK) {
+
+			/* Read the value */
+			for (unsigned av = 0; av < samples; av++) {
+				dn = px4_arch_adc_sample(HW_REV_VER_ADC_BASE, adc_channel);
+
+				if (dn == 0xffff) {
+					break;
+				}
+
+				dn_sum  += dn;
+			}
+
+			if (dn != 0xffff) {
+				*id = dn_sum / samples;
+				rv = OK;
+			}
+		}
+
+	} else {
+		/* No - No Resistors is ID 0 */
+		*id = 0;
+		rv = OK;
+	}
+
+	/*  Turn the drive lines to digital outputs High */
+
+	imxrt_config_gpio(gpio_drive);
+	return rv;
+}
+
+
+static int determine_hw_info(int *revision, int *version)
+{
+	int dn;
+	int rv = read_id_dn(&dn, GPIO_HW_REV_DRIVE, GPIO_HW_REV_SENSE, ADC_HW_REV_SENSE_CHANNEL);
+
+	if (rv == OK) {
+		*revision =  dn_to_ordinal(dn);
+		rv = read_id_dn(&dn, GPIO_HW_VER_DRIVE, GPIO_HW_VER_SENSE, ADC_HW_VER_SENSE_CHANNEL);
+
+		if (rv == OK) {
+			*version =  dn_to_ordinal(dn);
+		}
+	}
+
+	return rv;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+/************************************************************************************
+ * Name: board_get_hw_type
+ *
+ * Description:
+ *   Optional returns a 0 terminated string defining the HW type.
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   a 0 terminated string defining the HW type. This my be a 0 length string ""
+ *
+ ************************************************************************************/
+
+__EXPORT const char *board_get_hw_type_name()
+{
+	return (const char *) hw_info;
+}
+
+/************************************************************************************
+ * Name: board_get_hw_version
+ *
+ * Description:
+ *   Optional returns a integer HW version
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   An integer value of this boards hardware version.
+ *   A value of -1 is the default for boards not supporting the BOARD_HAS_VERSIONING API.
+ *   A value of 0 is the default for boards supporting the API but not having version.
+ *
+ ************************************************************************************/
+
+__EXPORT int board_get_hw_version()
+{
+	return  hw_version;
+}
+
+/************************************************************************************
+ * Name: board_get_hw_revision
+ *
+ * Description:
+ *   Optional returns a integer HW revision
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   An integer value of this boards hardware revision.
+ *   A value of -1 is the default for boards not supporting the BOARD_HAS_VERSIONING API.
+ *   A value of 0 is the default for boards supporting the API but not having revision.
+ *
+ ************************************************************************************/
+
+__EXPORT int board_get_hw_revision()
+{
+	return  hw_revision;
+}
+
+/************************************************************************************
+  * Name: board_determine_hw_info
+ *
+ * Description:
+ *	Uses the HW revision and version detection added in FMUv5.
+ *	See https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY
+ *	HW REV and VER ID tab.
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   0  - on success or negated errono
+ *   1) The values for integer value of this boards hardware revision is set
+ *   2) The integer value of this boards hardware version is set.
+ *   3) hw_info is populated
+ *
+ *   A value of 0 is the default for boards supporting the BOARD_HAS_HW_VERSIONING API.
+ *   but not having R1 and R2.
+ *
+ ************************************************************************************/
+
+int board_determine_hw_info()
+{
+	int rv = determine_hw_info(&hw_revision, &hw_version);
+
+	if (rv == OK) {
+		hw_info[HW_INFO_INIT_REV] = board_get_hw_revision() + '0';
+		hw_info[HW_INFO_INIT_VER] = board_get_hw_version() + '0';
+	}
+
+	return rv;
+}
+#endif
@@ -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_reset
+	board_reset.c
+)
@@ -0,0 +1,91 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2017 PX4 Development Team. All rights reserved.
+ *   Author: @author 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.c
+ * Implementation of IMXRT based Board RESET API
+ */
+
+#include <px4_platform_common/px4_config.h>
+#include <errno.h>
+#include <nuttx/board.h>
+#include <up_arch.h>
+#include <hardware/imxrt_snvs.h>
+
+#define PX4_IMXRT_RTC_REBOOT_REG 3 // Must be common with bootloader and:
+
+#if CONFIG_IMXRT_RTC_MAGIC_REG == PX4_IMXRT_RTC_REBOOT_REG
+#  error CONFIG_IMXRT_RTC_MAGIC_REG can nt have the save value as PX4_IMXRT_RTC_REBOOT_REG
+#endif
+
+int board_reset(int status)
+{
+	up_systemreset();
+	return 0;
+}
+
+int board_set_bootload_mode(board_reset_e mode)
+{
+	uint32_t regvalue = 0;
+
+	switch (mode) {
+	case board_reset_normal:
+	case board_reset_extended:
+		break;
+
+	case board_reset_enter_bootloader:
+		regvalue = 0xb007b007;
+		break;
+
+	default:
+		return -EINVAL;
+	}
+
+	putreg32(regvalue, IMXRT_SNVS_LPGPR(PX4_IMXRT_RTC_REBOOT_REG));
+	return OK;
+}
+
+
+void board_system_reset(int status)
+{
+#if defined(BOARD_HAS_ON_RESET)
+	board_on_reset(status);
+#endif
+
+#ifdef CONFIG_BOARDCTL_RESET
+	board_reset(status);
+#endif
+
+	while (1);
+}
@@ -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
@@ -0,0 +1,45 @@
+/****************************************************************************
+ *
+ *   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 <board_config.h>
+
+#if !defined(HW_REV_VER_ADC_BASE)
+#  define HW_REV_VER_ADC_BASE IMXRT_ADC1_BASE
+#endif
+
+#if !defined(SYSTEM_ADC_BASE)
+#  define SYSTEM_ADC_BASE IMXRT_ADC1_BASE
+#endif
+
+#include <px4_platform/adc.h>
@@ -0,0 +1,142 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 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 drv_io_timer.h
+ *
+ * imxrt-specific PWM output data.
+ */
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/arch.h>
+#include <nuttx/irq.h>
+
+#include <drivers/drv_hrt.h>
+
+#pragma once
+__BEGIN_DECLS
+/* configuration limits */
+#define MAX_IO_TIMERS			4
+#define MAX_TIMER_IO_CHANNELS	16
+
+#define MAX_LED_TIMERS			2
+#define MAX_TIMER_LED_CHANNELS	6
+
+#define IO_TIMER_ALL_MODES_CHANNELS 0
+
+typedef enum io_timer_channel_mode_t {
+	IOTimerChanMode_NotUsed = 0,
+	IOTimerChanMode_PWMOut  = 1,
+	IOTimerChanMode_PWMIn   = 2,
+	IOTimerChanMode_Capture = 3,
+	IOTimerChanMode_OneShot = 4,
+	IOTimerChanMode_Trigger = 5,
+	IOTimerChanModeSize
+} io_timer_channel_mode_t;
+
+typedef uint16_t io_timer_channel_allocation_t; /* big enough to hold MAX_TIMER_IO_CHANNELS */
+
+/* array of timers dedicated to PWM in and out and TBD capture use
+ *** Timers are driven from QTIMER3_OUT0
+ *** In PWM  mode the timer's prescaler is set to achieve a counter frequency of 1MHz
+ *** In OneShot mode the timer's prescaler is set to achieve a counter frequency of 8MHz
+ *** Other prescaler rates can be achieved by fore instance by setting the clock_freq = 1Mhz
+ *** the resulting PSC will be one and the timer will count at it's clock frequency.
+ */
+typedef struct io_timers_t {
+	uint32_t  base;                /* Base address of the timer */
+	uint32_t  clock_register;      /* SIM_SCGCn */
+	uint32_t  clock_bit;           /* SIM_SCGCn bit pos */
+	uint32_t  vectorno;            /* IRQ number */
+	uint32_t  first_channel_index; /* 0 based index in timer_io_channels */
+	uint32_t  last_channel_index;  /* 0 based index in timer_io_channels */
+	xcpt_t    handler;
+} io_timers_t;
+
+/* array of channels in logical order */
+typedef struct timer_io_channels_t {
+	uint32_t	gpio_out;            /* The timer valn_offset GPIO for PWM */
+	uint32_t	gpio_in;             /* The timer valn_offset GPIO for Capture */
+	uint8_t		timer_index;         /* 0 based index in the io_timers_t table */
+	uint8_t   val_offset;          /* IMXRT_FLEXPWM_SM0VAL3_OFFSET or IMXRT_FLEXPWM_SM0VAL5_OFFSET */
+	uint8_t   sub_module;          /* 0 based sub module offset */
+	uint8_t   sub_module_bits;     /* LDOK and CLDOK bits */
+} timer_io_channels_t;
+
+#define SM0           0
+#define SM1           1
+#define SM2           2
+#define SM3           3
+
+#define PWMA_VAL      IMXRT_FLEXPWM_SM0VAL3_OFFSET
+#define PWMB_VAL      IMXRT_FLEXPWM_SM0VAL5_OFFSET
+
+
+typedef void (*channel_handler_t)(void *context, const io_timers_t *timer, uint32_t chan_index,
+				  const timer_io_channels_t *chan,
+				  hrt_abstime isrs_time, uint16_t isrs_rcnt,
+				  uint16_t capture);
+
+
+/* supplied by board-specific code */
+__EXPORT extern const io_timers_t io_timers[MAX_IO_TIMERS];
+__EXPORT extern const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS];
+
+__EXPORT extern const io_timers_t led_pwm_timers[MAX_LED_TIMERS];
+__EXPORT extern const timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS];
+
+__EXPORT extern io_timer_channel_allocation_t allocations[IOTimerChanModeSize];
+__EXPORT int io_timer_handler0(int irq, void *context, void *arg);
+__EXPORT int io_timer_handler1(int irq, void *context, void *arg);
+__EXPORT int io_timer_handler2(int irq, void *context, void *arg);
+__EXPORT int io_timer_handler3(int irq, void *context, void *arg);
+
+__EXPORT int io_timer_channel_init(unsigned channel, io_timer_channel_mode_t mode,
+				   channel_handler_t channel_handler, void *context);
+
+__EXPORT int io_timer_init_timer(unsigned timer);
+
+__EXPORT int io_timer_set_rate(unsigned timer, unsigned rate);
+__EXPORT int io_timer_set_enable(bool state, io_timer_channel_mode_t mode,
+				 io_timer_channel_allocation_t masks);
+__EXPORT int io_timer_set_rate(unsigned timer, unsigned rate);
+__EXPORT uint16_t io_channel_get_ccr(unsigned channel);
+__EXPORT int io_timer_set_ccr(unsigned channel, uint16_t value);
+__EXPORT uint32_t io_timer_get_group(unsigned timer);
+__EXPORT int io_timer_validate_channel_index(unsigned channel);
+__EXPORT int io_timer_is_channel_free(unsigned channel);
+__EXPORT int io_timer_free_channel(unsigned channel);
+__EXPORT int io_timer_get_channel_mode(unsigned channel);
+__EXPORT int io_timer_get_mode_channels(io_timer_channel_mode_t mode);
+__EXPORT extern void io_timer_trigger(void);
+
+__END_DECLS
@@ -0,0 +1,39 @@
+############################################################################
+#
+#   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_io_pins
+	io_timer.c
+	pwm_servo.c
+	pwm_trigger.c
+	input_capture.c
+)
@@ -0,0 +1,330 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 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 drv_input_capture.c
+ *
+ * Servo driver supporting input capture connected to imxrt  timer blocks.
+ *
+ * Works with any FLEXPWN that have input pins.
+ *
+ * Require an interrupt.
+ *
+ *
+ */
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/arch.h>
+#include <nuttx/irq.h>
+
+#include <sys/types.h>
+#include <stdbool.h>
+
+#include <assert.h>
+#include <debug.h>
+#include <time.h>
+#include <queue.h>
+#include <errno.h>
+#include <string.h>
+#include <stdio.h>
+
+#include <arch/board/board.h>
+#include <drivers/drv_input_capture.h>
+#include <px4_arch/io_timer.h>
+
+#include <chip.h>
+#include "hardware/imxrt_flexpwm.h"
+
+#define MAX_CHANNELS_PER_TIMER 2
+
+#define SM_SPACING (IMXRT_FLEXPWM_SM1CNT_OFFSET-IMXRT_FLEXPWM_SM0CNT_OFFSET)
+
+#define _REG(_addr) (*(volatile uint16_t *)(_addr))
+#define _REG16(_base, _reg) (*(volatile uint16_t *)(_base + _reg))
+#define REG(_tmr, _sm, _reg)    _REG16(io_timers[(_tmr)].base + ((_sm) * SM_SPACING), (_reg))
+
+static input_capture_stats_t channel_stats[MAX_TIMER_IO_CHANNELS];
+
+static struct channel_handler_entry {
+	capture_callback_t callback;
+	void			  *context;
+} channel_handlers[MAX_TIMER_IO_CHANNELS];
+
+static void input_capture_chan_handler(void *context, const io_timers_t *timer, uint32_t chan_index,
+				       const timer_io_channels_t *chan,
+				       hrt_abstime isrs_time, uint16_t isrs_rcnt,
+				       uint16_t capture)
+{
+	channel_stats[chan_index].last_edge = px4_arch_gpioread(chan->gpio_in);
+
+	if ((isrs_rcnt - capture) > channel_stats[chan_index].latnecy) {
+		channel_stats[chan_index].latnecy = (isrs_rcnt - capture);
+	}
+
+	channel_stats[chan_index].chan_in_edges_out++;
+	channel_stats[chan_index].last_time = isrs_time - (isrs_rcnt - capture);
+	uint32_t overflow = 0;//_REG32(timer, KINETIS_FTM_CSC_OFFSET(chan->timer_channel - 1)) & FTM_CSC_CHF;
+
+	if (overflow) {
+
+		/* Error we has a second edge before we cleared CCxR */
+
+		channel_stats[chan_index].overflows++;
+	}
+
+	if (channel_handlers[chan_index].callback)  {
+		channel_handlers[chan_index].callback(channel_handlers[chan_index].context, chan_index,
+						      channel_stats[chan_index].last_time,
+						      channel_stats[chan_index].last_edge, overflow);
+	}
+}
+
+static void input_capture_bind(unsigned channel, capture_callback_t callback, void *context)
+{
+	irqstate_t flags = px4_enter_critical_section();
+	channel_handlers[channel].callback = callback;
+	channel_handlers[channel].context = context;
+	px4_leave_critical_section(flags);
+}
+
+static void input_capture_unbind(unsigned channel)
+{
+	input_capture_bind(channel, NULL, NULL);
+}
+
+int up_input_capture_set(unsigned channel, input_capture_edge edge, capture_filter_t filter,
+			 capture_callback_t callback, void *context)
+{
+	if (edge > Both) {
+		return -EINVAL;
+	}
+
+	int rv = io_timer_validate_channel_index(channel);
+
+	if (rv == 0) {
+
+		if (edge == Disabled) {
+
+			io_timer_set_enable(false, IOTimerChanMode_Capture, 1 << channel);
+			input_capture_unbind(channel);
+
+		} else {
+
+			if (-EBUSY == io_timer_is_channel_free(channel)) {
+				io_timer_free_channel(channel);
+			}
+
+			input_capture_bind(channel, callback, context);
+
+			rv = io_timer_channel_init(channel, IOTimerChanMode_Capture, input_capture_chan_handler, context);
+
+			if (rv != 0) {
+				return rv;
+			}
+
+			rv = up_input_capture_set_filter(channel, filter);
+
+			if (rv == 0) {
+				rv = up_input_capture_set_trigger(channel, edge);
+
+				if (rv == 0) {
+					rv = io_timer_set_enable(true, IOTimerChanMode_Capture, 1 << channel);
+				}
+			}
+		}
+	}
+
+	return rv;
+}
+
+int up_input_capture_get_filter(unsigned channel, capture_filter_t *filter)
+{
+	return 0;
+}
+int up_input_capture_set_filter(unsigned channel,  capture_filter_t filter)
+{
+	return 0;
+}
+
+int up_input_capture_get_trigger(unsigned channel,  input_capture_edge *edge)
+{
+	int rv = io_timer_validate_channel_index(channel);
+
+	if (rv == 0) {
+
+		rv = -ENXIO;
+
+		/* Any pins in capture mode */
+
+		if (io_timer_get_channel_mode(channel) == IOTimerChanMode_Capture) {
+
+			rv = OK;
+
+			uint32_t timer = timer_io_channels[channel].timer_index;
+			uint32_t offset =  timer_io_channels[channel].val_offset == PWMA_VAL ? IMXRT_FLEXPWM_SM0CAPTCTRLA_OFFSET :
+					   IMXRT_FLEXPWM_SM0CAPTCTRLB_OFFSET;
+			uint32_t rvalue = REG(timer, timer_io_channels[channel].sub_module, offset);
+			rvalue &= SMC_EDGA0_BOTH;
+
+			switch (rvalue) {
+
+			case (SMC_EDGA0_RISING):
+				*edge = Rising;
+				break;
+
+			case (SMC_EDGA0_FALLING):
+				*edge = Falling;
+				break;
+
+			case (SMC_EDGA0_BOTH):
+				*edge = Both;
+				break;
+
+			default:
+				rv = -EIO;
+			}
+		}
+	}
+
+	return rv;
+}
+int up_input_capture_set_trigger(unsigned channel,  input_capture_edge edge)
+{
+	int rv = io_timer_validate_channel_index(channel);
+
+	if (rv == 0) {
+
+		rv = -ENXIO;
+
+		/* Any pins in capture mode */
+
+		if (io_timer_get_channel_mode(channel) == IOTimerChanMode_Capture) {
+
+			uint16_t edge_bits = 0;
+
+			switch (edge) {
+			case Disabled:
+				break;
+
+			case Rising:
+				edge_bits = SMC_EDGA0_RISING;
+				break;
+
+			case Falling:
+				edge_bits = SMC_EDGA0_FALLING;
+				break;
+
+			case Both:
+				edge_bits = SMC_EDGA0_BOTH;
+				break;
+
+			default:
+				return -EINVAL;;
+			}
+
+			uint32_t timer = timer_io_channels[channel].timer_index;
+			uint32_t offset =  timer_io_channels[channel].val_offset == PWMA_VAL ? IMXRT_FLEXPWM_SM0CAPTCTRLA_OFFSET :
+					   IMXRT_FLEXPWM_SM0CAPTCTRLB_OFFSET;
+			irqstate_t flags = px4_enter_critical_section();
+			uint32_t rvalue = REG(timer, timer_io_channels[channel].sub_module, offset);
+			rvalue &= ~SMC_EDGA0_BOTH;
+			rvalue |=  edge_bits;
+			REG(timer, timer_io_channels[channel].sub_module, offset) = rvalue;
+			px4_leave_critical_section(flags);
+			rv = OK;
+		}
+	}
+
+	return rv;
+}
+
+int up_input_capture_get_callback(unsigned channel, capture_callback_t *callback, void **context)
+{
+	int rv = io_timer_validate_channel_index(channel);
+
+	if (rv == 0) {
+
+		rv = -ENXIO;
+
+		/* Any pins in capture mode */
+
+		if (io_timer_get_channel_mode(channel) == IOTimerChanMode_Capture) {
+
+			irqstate_t flags = px4_enter_critical_section();
+			*callback = channel_handlers[channel].callback;
+			*context = channel_handlers[channel].context;
+			px4_leave_critical_section(flags);
+			rv = OK;
+		}
+	}
+
+	return rv;
+
+}
+
+int up_input_capture_set_callback(unsigned channel, capture_callback_t callback, void *context)
+{
+	int rv = io_timer_validate_channel_index(channel);
+
+	if (rv == 0) {
+
+		rv = -ENXIO;
+
+		/* Any pins in capture mode */
+
+		if (io_timer_get_channel_mode(channel) == IOTimerChanMode_Capture) {
+			input_capture_bind(channel, callback, context);
+			rv = 0;
+		}
+	}
+
+	return rv;
+}
+
+int up_input_capture_get_stats(unsigned channel, input_capture_stats_t *stats, bool clear)
+{
+	int rv = io_timer_validate_channel_index(channel);
+
+	if (rv == 0) {
+		irqstate_t flags = px4_enter_critical_section();
+		*stats =  channel_stats[channel];
+
+		if (clear) {
+			memset(&channel_stats[channel], 0, sizeof(*stats));
+		}
+
+		px4_leave_critical_section(flags);
+	}
+
+	return rv;
+}
@@ -0,0 +1,161 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 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 drv_pwm_servo.c
+ *
+ * Servo driver supporting PWM servos connected to FLexPWM timer blocks.
+ * N.B. Groups:channels have a 1:1 correspondence on FlexPWM
+ *
+ */
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/arch.h>
+#include <nuttx/irq.h>
+
+#include <sys/types.h>
+#include <stdbool.h>
+
+#include <assert.h>
+#include <debug.h>
+#include <time.h>
+#include <queue.h>
+#include <errno.h>
+#include <string.h>
+#include <stdio.h>
+
+#include <arch/board/board.h>
+#include <drivers/drv_pwm_output.h>
+
+#include <px4_arch/io_timer.h>
+
+//#include <chip.h>
+
+int up_pwm_servo_set(unsigned channel, servo_position_t value)
+{
+	return io_timer_set_ccr(channel, value);
+}
+
+servo_position_t up_pwm_servo_get(unsigned channel)
+{
+	return io_channel_get_ccr(channel);
+}
+
+int up_pwm_servo_init(uint32_t channel_mask)
+{
+	/* Init channels */
+	uint32_t current = io_timer_get_mode_channels(IOTimerChanMode_PWMOut);
+
+	// First free the current set of PWMs
+
+	for (unsigned channel = 0; current != 0 &&  channel < MAX_TIMER_IO_CHANNELS; channel++) {
+		if (current & (1 << channel)) {
+			io_timer_free_channel(channel);
+			current &= ~(1 << channel);
+		}
+	}
+
+	// Now allocate the new set
+
+	for (unsigned channel = 0; channel_mask != 0 &&  channel < MAX_TIMER_IO_CHANNELS; channel++) {
+		if (channel_mask & (1 << channel)) {
+
+			// First free any that were not PWM mode before
+
+			if (-EBUSY == io_timer_is_channel_free(channel)) {
+				io_timer_free_channel(channel);
+			}
+
+			io_timer_channel_init(channel, IOTimerChanMode_PWMOut, NULL, NULL);
+			channel_mask &= ~(1 << channel);
+		}
+	}
+
+	return OK;
+}
+
+void up_pwm_servo_deinit(void)
+{
+	/* disable the timers */
+	up_pwm_servo_arm(false);
+}
+
+int up_pwm_servo_set_rate_group_update(unsigned channel, unsigned rate)
+{
+	if (io_timer_validate_channel_index(channel) < 0) {
+		return ERROR;
+	}
+
+	/* Allow a rate of 0 to enter oneshot mode */
+
+	if (rate != 0) {
+
+		/* limit update rate to 1..10000Hz; somewhat arbitrary but safe */
+
+		if (rate < 1) {
+			return -ERANGE;
+		}
+
+		if (rate > 10000) {
+			return -ERANGE;
+		}
+	}
+
+	return io_timer_set_rate(channel, rate);
+}
+
+void up_pwm_update(void)
+{
+	io_timer_trigger();
+}
+
+int up_pwm_servo_set_rate(unsigned rate)
+{
+	for (unsigned i = 0; i < MAX_TIMER_IO_CHANNELS; i++) {
+		up_pwm_servo_set_rate_group_update(i, rate);
+	}
+
+	return 0;
+}
+
+uint32_t up_pwm_servo_get_rate_group(unsigned group)
+{
+	return io_timer_get_group(group);
+}
+
+void
+up_pwm_servo_arm(bool armed)
+{
+	io_timer_set_enable(armed, IOTimerChanMode_OneShot, IO_TIMER_ALL_MODES_CHANNELS);
+	io_timer_set_enable(armed, IOTimerChanMode_PWMOut, IO_TIMER_ALL_MODES_CHANNELS);
+}
@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 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 drv_pwm_trigger.c
+ *
+ */
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/arch.h>
+#include <nuttx/irq.h>
+
+#include <sys/types.h>
+#include <stdbool.h>
+
+#include <assert.h>
+#include <debug.h>
+#include <time.h>
+#include <queue.h>
+#include <errno.h>
+#include <string.h>
+#include <stdio.h>
+
+#include <arch/board/board.h>
+#include <drivers/drv_pwm_trigger.h>
+
+#include <px4_arch/io_timer.h>
+
+int up_pwm_trigger_set(unsigned channel, uint16_t value)
+{
+	return io_timer_set_ccr(channel, value);
+}
+
+int up_pwm_trigger_init(uint32_t channel_mask)
+{
+	/* Init channels */
+	for (unsigned channel = 0; channel_mask != 0 &&  channel < MAX_TIMER_IO_CHANNELS; channel++) {
+		if (channel_mask & (1 << channel)) {
+
+			// First free any that were not trigger mode before
+			if (-EBUSY == io_timer_is_channel_free(channel)) {
+				io_timer_free_channel(channel);
+			}
+
+			io_timer_channel_init(channel, IOTimerChanMode_Trigger, NULL, NULL);
+			channel_mask &= ~(1 << channel);
+		}
+	}
+
+	/* Enable the timers */
+	up_pwm_trigger_arm(true);
+
+	return OK;
+}
+
+void up_pwm_trigger_deinit()
+{
+	/* Disable the timers */
+	up_pwm_trigger_arm(false);
+
+	/* Deinit channels */
+	uint32_t current = io_timer_get_mode_channels(IOTimerChanMode_Trigger);
+
+	for (unsigned channel = 0; current != 0 &&  channel < MAX_TIMER_IO_CHANNELS; channel++) {
+		if (current & (1 << channel)) {
+
+			io_timer_channel_init(channel, IOTimerChanMode_NotUsed, NULL, NULL);
+			current &= ~(1 << channel);
+		}
+	}
+}
+
+void
+up_pwm_trigger_arm(bool armed)
+{
+	io_timer_set_enable(armed, IOTimerChanMode_Trigger, IO_TIMER_ALL_MODES_CHANNELS);
+}
@@ -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_led_pwm
+	led_pwm.cpp
+)
@@ -0,0 +1,354 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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 Airmind 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 drv_led_pwm.cpp
+*
+*
+*/
+
+#include <px4_platform_common/px4_config.h>
+#include <systemlib/px4_macros.h>
+#include <nuttx/arch.h>
+#include <nuttx/irq.h>
+
+#include <sys/types.h>
+#include <stdbool.h>
+
+#include <assert.h>
+#include <debug.h>
+#include <time.h>
+#include <queue.h>
+#include <errno.h>
+#include <string.h>
+#include <stdio.h>
+
+#include <arch/board/board.h>
+#include <drivers/drv_pwm_output.h>
+
+#include <px4_arch/io_timer.h>
+
+#include <chip.h>
+#include "hardware/imxrt_tmr.h"
+
+int led_pwm_servo_set(unsigned channel, uint8_t  cvalue)
+{
+	return 0;
+}
+int led_pwm_servo_init(void)
+{
+	return 0;
+
+}
+
+#if 0 && defined(BOARD_HAS_LED_PWM) || defined(BOARD_HAS_UI_LED_PWM)
+
+#define FTM_SRC_CLOCK_FREQ 16000000
+#define LED_PWM_FREQ        1000000
+
+#if (BOARD_LED_PWM_RATE)
+#  define LED_PWM_RATE BOARD_LED_PWM_RATE
+#else
+#  define LED_PWM_RATE 50
+#endif
+
+#define _REG(_addr)	(*(volatile uint32_t *)(_addr))
+#define _REG32(_base, _reg)	(*(volatile uint32_t *)(_base + _reg))
+#define REG(_tmr, _reg)		_REG32(led_pwm_timers[_tmr].base, _reg)
+
+
+/* Timer register accessors */
+
+#define rSC(_tmr)         REG(_tmr,KINETIS_FTM_SC_OFFSET)
+#define rCNT(_tmr)        REG(_tmr,KINETIS_FTM_CNT_OFFSET)
+#define rMOD(_tmr)        REG(_tmr,KINETIS_FTM_MOD_OFFSET)
+#define rC0SC(_tmr)       REG(_tmr,KINETIS_FTM_C0SC_OFFSET)
+#define rC0V(_tmr)        REG(_tmr,KINETIS_FTM_C0V_OFFSET)
+#define rC1SC(_tmr)       REG(_tmr,KINETIS_FTM_C1SC_OFFSET)
+#define rC1V(_tmr)        REG(_tmr,KINETIS_FTM_C1V_OFFSET)
+#define rC2SC(_tmr)       REG(_tmr,KINETIS_FTM_C2SC_OFFSET)
+#define rC2V(_tmr)        REG(_tmr,KINETIS_FTM_C2V_OFFSET)
+#define rC3SC(_tmr)       REG(_tmr,KINETIS_FTM_C3SC_OFFSET)
+#define rC3V(_tmr)        REG(_tmr,KINETIS_FTM_C3V_OFFSET)
+#define rC4SC(_tmr)       REG(_tmr,KINETIS_FTM_C4SC_OFFSET)
+#define rC4V(_tmr)        REG(_tmr,KINETIS_FTM_C4V_OFFSET)
+#define rC5SC(_tmr)       REG(_tmr,KINETIS_FTM_C5SC_OFFSET)
+#define rC5V(_tmr)        REG(_tmr,KINETIS_FTM_C5V_OFFSET)
+#define rC6SC(_tmr)       REG(_tmr,KINETIS_FTM_C6SC_OFFSET)
+#define rC6V(_tmr)        REG(_tmr,KINETIS_FTM_C6V_OFFSET)
+#define rC7SC(_tmr)       REG(_tmr,KINETIS_FTM_C7SC_OFFSET)
+#define rC7V(_tmr)        REG(_tmr,KINETIS_FTM_C7V_OFFSET)
+
+#define rCNTIN(_tmr)      REG(_tmr,KINETIS_FTM_CNTIN_OFFSET)
+#define rSTATUS(_tmr)     REG(_tmr,KINETIS_FTM_STATUS_OFFSET)
+#define rMODE(_tmr)       REG(_tmr,KINETIS_FTM_MODE_OFFSET)
+#define rSYNC(_tmr)       REG(_tmr,KINETIS_FTM_SYNC_OFFSET)
+#define rOUTINIT(_tmr)    REG(_tmr,KINETIS_FTM_OUTINIT_OFFSET)
+#define rOUTMASK(_tmr)    REG(_tmr,KINETIS_FTM_OUTMASK_OFFSET)
+#define rCOMBINE(_tmr)    REG(_tmr,KINETIS_FTM_COMBINE_OFFSET)
+#define rDEADTIME(_tmr)   REG(_tmr,KINETIS_FTM_DEADTIME_OFFSET)
+#define rEXTTRIG(_tmr)    REG(_tmr,KINETIS_FTM_EXTTRIG_OFFSET)
+#define rPOL(_tmr)        REG(_tmr,KINETIS_FTM_POL_OFFSET)
+#define rFMS(_tmr)        REG(_tmr,KINETIS_FTM_FMS_OFFSET)
+#define rFILTER(_tmr)     REG(_tmr,KINETIS_FTM_FILTER_OFFSET)
+#define rFLTCTRL(_tmr)    REG(_tmr,KINETIS_FTM_FLTCTRL_OFFSET)
+#define rQDCTRL(_tmr)     REG(_tmr,KINETIS_FTM_QDCTRL_OFFSET)
+#define rCONF(_tmr)       REG(_tmr,KINETIS_FTM_CONF_OFFSET)
+#define rFLTPOL(_tmr)     REG(_tmr,KINETIS_FTM_FLTPOL_OFFSET)
+#define rSYNCONF(_tmr)    REG(_tmr,KINETIS_FTM_SYNCONF_OFFSET)
+#define rINVCTRL(_tmr)    REG(_tmr,KINETIS_FTM_INVCTRL_OFFSET)
+#define rSWOCTRL(_tmr)    REG(_tmr,KINETIS_FTM_SWOCTRL_OFFSET)
+#define rPWMLOAD(_tmr)    REG(_tmr,KINETIS_FTM_PWMLOAD_OFFSET)
+
+#define CnSC_RESET          (FTM_CSC_CHF|FTM_CSC_CHIE|FTM_CSC_MSB|FTM_CSC_MSA|FTM_CSC_ELSB|FTM_CSC_ELSA|FTM_CSC_DMA)
+#define CnSC_CAPTURE_INIT   (FTM_CSC_CHIE|FTM_CSC_ELSB|FTM_CSC_ELSA) // Both
+
+#if defined(BOARD_LED_PWM_DRIVE_ACTIVE_LOW)
+#define CnSC_PWMOUT_INIT    (FTM_CSC_MSB|FTM_CSC_ELSA)
+#else
+#define CnSC_PWMOUT_INIT    (FTM_CSC_MSB|FTM_CSC_ELSB)
+#endif
+
+#define FTM_SYNC (FTM_SYNC_SWSYNC)
+
+static void             led_pwm_timer_init(unsigned timer);
+static void             led_pwm_timer_set_rate(unsigned timer, unsigned rate);
+static void             led_pwm_channel_init(unsigned channel);
+
+int led_pwm_servo_set(unsigned channel, uint8_t  value);
+unsigned led_pwm_servo_get(unsigned channel);
+int led_pwm_servo_init(void);
+void led_pwm_servo_deinit(void);
+void led_pwm_servo_arm(bool armed);
+unsigned led_pwm_timer_get_period(unsigned timer);
+
+static void led_pwm_timer_set_rate(unsigned timer, unsigned rate)
+{
+
+	irqstate_t flags = px4_enter_critical_section();
+
+	uint32_t save = rSC(timer);
+	rSC(timer) = save & ~(FTM_SC_CLKS_MASK);
+
+	/* configure the timer to update at the desired rate */
+	rMOD(timer) = (LED_PWM_FREQ / rate) - 1;
+	rSC(timer) = save;
+
+	px4_leave_critical_section(flags);
+}
+
+static inline uint32_t div2psc(int div)
+{
+	return 31 - __builtin_clz(div);
+}
+
+static inline void led_pwm_timer_set_PWM_mode(unsigned timer)
+{
+	irqstate_t flags = px4_enter_critical_section();
+	rSC(timer) &= ~(FTM_SC_CLKS_MASK | FTM_SC_PS_MASK);
+	rSC(timer) |= (FTM_SC_CLKS_EXTCLK | div2psc(FTM_SRC_CLOCK_FREQ / LED_PWM_FREQ));
+	px4_leave_critical_section(flags);
+}
+
+
+static void
+led_pwm_timer_init(unsigned timer)
+{
+	/* valid Timer */
+
+	if (led_pwm_timers[timer].base != 0) {
+
+		/* enable the timer clock before we try to talk to it */
+
+		uint32_t regval = _REG(led_pwm_timers[timer].clock_register);
+		regval |= led_pwm_timers[timer].clock_bit;
+		_REG(led_pwm_timers[timer].clock_register) = regval;
+
+		/* disable and configure the timer */
+
+		rSC(timer)    = FTM_SC_CLKS_NONE;
+		rCNT(timer)   = 0;
+
+		rMODE(timer) = 0;
+		rSYNCONF(timer)   = (FTM_SYNCONF_SYNCMODE | FTM_SYNCONF_SWWRBUF | FTM_SYNCONF_SWRSTCNT);
+
+		/* Set to run in debug mode */
+
+		rCONF(timer)   |= FTM_CONF_BDMMODE_MASK;
+
+		/* enable the timer */
+
+		led_pwm_timer_set_PWM_mode(timer);
+
+		/*
+		 * Note we do the Standard PWM Out init here
+		 * default to updating at LED_PWM_RATE
+		 */
+
+		led_pwm_timer_set_rate(timer, LED_PWM_RATE);
+	}
+}
+unsigned
+led_pwm_timer_get_period(unsigned timer)
+{
+	// MOD is a 16 bit reg
+	unsigned mod = rMOD(timer);
+
+	if (mod == 0) {
+		return 1 << 16;
+	}
+
+	return (uint16_t)(mod + 1);
+}
+
+
+static void
+led_pwm_channel_init(unsigned channel)
+{
+	/* Only initialize used channels */
+
+	if (led_pwm_channels[channel].timer_channel) {
+		unsigned timer = led_pwm_channels[channel].timer_index;
+
+		irqstate_t flags = px4_enter_critical_section();
+
+		/* configure the GPIO first */
+
+		px4_arch_configgpio(led_pwm_channels[channel].gpio_out);
+
+		/* configure the channel */
+
+		uint32_t chan = led_pwm_channels[channel].timer_channel - 1;
+
+		uint16_t rvalue = REG(timer, KINETIS_FTM_CSC_OFFSET(chan));
+		rvalue &= ~CnSC_RESET;
+		rvalue |=  CnSC_PWMOUT_INIT;
+		REG(timer, KINETIS_FTM_CSC_OFFSET(chan)) = rvalue;
+		REG(timer, KINETIS_FTM_CV_OFFSET(0)) = 0;
+		px4_leave_critical_section(flags);
+	}
+}
+
+int
+led_pwm_servo_set(unsigned channel, uint8_t  cvalue)
+{
+	if (channel >= arraySize(led_pwm_channels)) {
+		return -1;
+	}
+
+	unsigned timer = led_pwm_channels[channel].timer_index;
+
+	/* test timer for validity */
+	if ((led_pwm_timers[timer].base == 0) ||
+	    (led_pwm_channels[channel].gpio_out == 0)) {
+		return -1;
+	}
+
+	unsigned period = led_pwm_timer_get_period(timer);
+
+	unsigned value = (unsigned)cvalue * period / 255;
+
+	/* configure the channel */
+	if (value > 0) {
+		value--;
+	}
+
+	REG(timer, KINETIS_FTM_CV_OFFSET(led_pwm_channels[channel].timer_channel - 1)) = value;
+
+	return 0;
+}
+unsigned
+led_pwm_servo_get(unsigned channel)
+{
+	if (channel >= 3) {
+		return 0;
+	}
+
+	unsigned timer = led_pwm_channels[channel].timer_index;
+	servo_position_t value = 0;
+
+	/* test timer for validity */
+	if ((led_pwm_timers[timer].base == 0) ||
+	    (led_pwm_channels[channel].timer_channel == 0)) {
+		return value;
+	}
+
+	value = REG(timer, KINETIS_FTM_CV_OFFSET(led_pwm_channels[channel].timer_channel - 1));
+	unsigned period = led_pwm_timer_get_period(timer);
+	return ((value + 1) * 255 / period);
+}
+int
+led_pwm_servo_init(void)
+{
+	/* do basic timer initialisation first */
+	for (unsigned i = 0; i < arraySize(led_pwm_timers); i++) {
+		led_pwm_timer_init(i);
+	}
+
+	/* now init channels */
+	for (unsigned i = 0; i < arraySize(led_pwm_channels); i++) {
+		led_pwm_channel_init(i);
+	}
+
+	led_pwm_servo_arm(true);
+	return OK;
+}
+
+void
+led_pwm_servo_deinit(void)
+{
+	/* disable the timers */
+	led_pwm_servo_arm(false);
+}
+
+void
+led_pwm_servo_arm(bool armed)
+{
+	/* iterate timers and arm/disarm appropriately */
+	for (unsigned i = 0; i < arraySize(led_pwm_timers); i++) {
+		if (led_pwm_timers[i].base != 0) {
+			if (armed) {
+				/* force an update to preload all registers */
+				led_pwm_timer_set_PWM_mode(i);
+
+			} else {
+				/* disable and configure the timer */
+
+				rSC(i)    = FTM_SC_CLKS_NONE;
+				rCNT(i)   = 0;
+			}
+		}
+	}
+}
+
+#endif // BOARD_HAS_LED_PWM || BOARD_HAS_UI_LED_PWM
@@ -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_tone_alarm
+	ToneAlarmInterface.cpp
+)
@@ -0,0 +1,193 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013-2019 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ToneAlarmInterface.cpp
+ */
+
+#include <drivers/device/device.h>
+#include <drivers/drv_tone_alarm.h>
+#include <px4_platform_common/defines.h>
+#include <systemlib/px4_macros.h>
+
+#include "chip.h"
+#include "hardware/imxrt_gpt.h"
+#include "imxrt_periphclks.h"
+
+#define CAT3_(A, B, C)    A##B##C
+#define CAT3(A, B, C)     CAT3_(A, B, C)
+
+#define CAT2_(A, B)    A##B
+#define CAT2(A, B)     CAT2_(A, B)
+
+/* Check that tone alarm and HRT timers are different */
+#if defined(TONE_ALARM_TIMER)  && defined(HRT_TIMER)
+# if TONE_ALARM_TIMER == HRT_TIMER
+#   error TONE_ALARM_TIMER and HRT_TIMER must use different timers.
+# endif
+#endif
+
+/*
+* Period of the free-running counter, in microseconds.
+*/
+#define TONE_ALARM_COUNTER_PERIOD  4294967296
+
+/* Tone Alarm configuration */
+
+#define TONE_ALARM_TIMER_CLOCK  BOARD_GPT_FREQUENCY                       /* The input clock frequency to the GPT block */
+#define TONE_ALARM_TIMER_BASE   CAT3(IMXRT_GPT, TONE_ALARM_TIMER,_BASE)   /* The Base address of the GPT */
+#define TONE_ALARM_TIMER_VECTOR CAT(IMXRT_IRQ_GPT, TONE_ALARM_TIMER)      /* The GPT Interrupt vector */
+
+#if TONE_ALARM_TIMER == 1
+#  define TONE_ALARM_CLOCK_ALL()  imxrt_clockall_gpt_bus()         /* The Clock Gating macro for this GPT */
+#elif TONE_ALARM_TIMER == 2
+#  define TONE_ALARM_CLOCK_ALL()  imxrt_clockall_gpt2_bus()        /* The Clock Gating macro for this GPT */
+#endif
+
+#if TONE_ALARM_TIMER == 1 && defined(CONFIG_IMXRT_GPT1)
+#  error must not set CONFIG_IMXRT_GPT1=y and TONE_ALARM_TIMER=1
+#elif   TONE_ALARM_TIMER == 2 && defined(CONFIG_IMXRT_GPT2)
+#  error must not set CONFIG_IMXRT_GPT2=y and TONE_ALARM_TIMER=2
+#endif
+
+
+# define TONE_ALARM_TIMER_FREQ    1000000
+
+/*
+* Tone Alarm clock must be a multiple of 1MHz greater than 1MHz
+*/
+#if (TONE_ALARM_TIMER_CLOCK % TONE_ALARM_TIMER_FREQ) != 0
+#  error TONE_ALARM_TIMER_CLOCK must be a multiple of 1MHz
+#endif
+#if TONE_ALARM_TIMER_CLOCK <= TONE_ALARM_TIMER_FREQ
+# error TONE_ALARM_TIMER_CLOCK must be greater than 1MHz
+#endif
+
+#if (TONE_ALARM_TIMER_CHANNEL > 1) || (TONE_ALARM_TIMER_CHANNEL > 3)
+#  error TONE_ALARM_CHANNEL must be a value between 1 and 3
+#endif
+
+
+/* Register accessors */
+
+#define _REG(_addr) (*(volatile uint32_t *)(_addr))
+
+/* Timer register accessors */
+
+#define REG(_reg) _REG(TONE_ALARM_TIMER_BASE + (_reg))
+
+#define rCR         REG(IMXRT_GPT_CR_OFFSET)
+#define rPR         REG(IMXRT_GPT_PR_OFFSET)
+#define rSR         REG(IMXRT_GPT_SR_OFFSET)
+#define rIR         REG(IMXRT_GPT_IR_OFFSET)
+#define rOCR1       REG(IMXRT_GPT_OCR1_OFFSET)
+#define rOCR2       REG(IMXRT_GPT_OCR2_OFFSET)
+#define rOCR3       REG(IMXRT_GPT_OCR3_OFFSET)
+#define rICR1       REG(IMXRT_GPT_ICR1_OFFSET)
+#define rICR2       REG(IMXRT_GPT_ICR2_OFFSET)
+#define rCNT        REG(IMXRT_GPT_CNT_OFFSET)
+
+/*
+* Specific registers and bits used by Tone Alarm sub-functions
+*/
+
+#define rOCR         CAT2(rOCR, TONE_ALARM_CHANNEL)               /* GPT Output Compare Register used by HRT */
+#define rSTATUS      CAT2(GPT_SR_OF, TONE_ALARM_CHANNEL)          /* OF Output Compare Flag */
+#define CR_OM        CAT3(GPT_CR_OM, TONE_ALARM_CHANNEL,_TOGGLE)  /* Output Compare mode */
+
+
+#define CBRK_BUZZER_KEY 782097
+
+namespace ToneAlarmInterface
+{
+
+void init()
+{
+#if defined(TONE_ALARM_TIMER)
+	/* configure the GPIO to the idle state */
+	px4_arch_configgpio(GPIO_TONE_ALARM_IDLE);
+
+	/* Enable the Module clock */
+
+	TONE_ALARM_CLOCK_ALL();
+
+
+	/* disable and configure the timer */
+
+	/* disable and configure the timer */
+
+	rCR =  GPT_CR_OM1_DIS | GPT_CR_OM2_DIS | GPT_CR_OM3_DIS |
+	       CR_OM | GPT_CR_FRR | GPT_CR_CLKSRC_IPG;
+
+	/* CLKSRC field is divided by [PRESCALER + 1] */
+
+	rPR = (TONE_ALARM_TIMER_CLOCK / TONE_ALARM_TIMER_FREQ) - 1;
+
+	/* enable the timer and output toggle */
+
+	rCR |=  GPT_CR_EN;
+#endif /* TONE_ALARM_TIMER */
+}
+
+void start_note(unsigned frequency)
+{
+#if defined(TONE_ALARM_TIMER)
+	float period = 0.5f / frequency;
+
+	// and the divisor, rounded to the nearest integer
+	unsigned divisor = (period * TONE_ALARM_TIMER_FREQ) + 0.5f;
+
+	rCR &= ~GPT_CR_EN;
+	rOCR = divisor;		// load new toggle period
+	rCR |= GPT_CR_EN;
+
+	// configure the GPIO to enable timer output
+	px4_arch_configgpio(GPIO_TONE_ALARM);
+#endif /* TONE_ALARM_TIMER */
+}
+
+void stop_note()
+{
+#if defined(TONE_ALARM_TIMER)
+	/* stop the current note */
+
+	rCR &= ~GPT_CR_EN;
+
+	/*
+	 * Make sure the GPIO is not driving the speaker.
+	 */
+	px4_arch_configgpio(GPIO_TONE_ALARM_IDLE);
+#endif /* TONE_ALARM_TIMER */
+}
+
+} /* namespace ToneAlarmInterface */
@@ -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_version
+	board_identity.c
+	board_mcu_version.c
+)
@@ -0,0 +1,170 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2018 PX4 Development Team. All rights reserved.
+ *   Author: @author 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_identity.c
+ * Implementation of imxrt based Board identity API
+ */
+
+#include <px4_platform_common/px4_config.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <string.h>
+#include <up_arch.h>
+#include <hardware/imxrt_ocotp.h>
+
+#define CPU_UUID_BYTE_FORMAT_ORDER          {3, 2, 1, 0, 7, 6, 5, 4}
+#define SWAP_UINT32(x) (((x) >> 24) | (((x) & 0x00ff0000) >> 8) | (((x) & 0x0000ff00) << 8) | ((x) << 24))
+
+
+static const uint16_t soc_arch_id = PX4_SOC_ARCH_ID;
+
+/* A type suitable for holding the reordering array for the byte format of the UUID
+ */
+
+typedef const uint8_t uuid_uint8_reorder_t[PX4_CPU_UUID_BYTE_LENGTH];
+
+void board_get_uuid(uuid_byte_t uuid_bytes)
+{
+	uuid_uint8_reorder_t reorder = CPU_UUID_BYTE_FORMAT_ORDER;
+
+	union {
+		uuid_byte_t b;
+		uuid_uint32_t w;
+	} id;
+
+	/* Copy the serial from the OCOTP */
+
+	board_get_uuid32(id.w);
+
+	/* swap endianess */
+
+	for (int i = 0; i < PX4_CPU_UUID_BYTE_LENGTH; i++) {
+		uuid_bytes[i] = id.b[reorder[i]];
+	}
+}
+
+void board_get_uuid32(uuid_uint32_t uuid_words)
+{
+	/* IMXRT_OCOTP_CFG1:0x420[10:0], IMXRT_OCOTP_CFG0:0x410[31:0] LOT_NO_ENC[42:0](SJC_CHALL/UNIQUE_ID[42:0])
+	 *    43 bits  FSL-wide unique,encoded LOT ID STD II/SJC CHALLENGE/ Unique ID
+	 * 0x420[15:11] WAFER_NO[4:0]( SJC_CHALL[47:43] /UNIQUE_ID[47:43])
+	 *     5 bits The wafer number of the wafer on which the device was fabricated/SJC CHALLENGE/ Unique ID
+	 * 0x420[23:16] DIE-YCORDINATE[7:0]( SJC_CHALL[55:48] /UNIQUE_ID[55:48])
+	 *     8 bits The Y-coordinate of the die location on the wafer/SJC CHALLENGE/Unique ID
+	 * 0x420[31:24] DIE-XCORDINATE[7:0]( SJC_CHALL[63:56] /UNIQUE_ID[63:56] )
+	 *    8 bits The X-coordinate of the die location on the wafer/SJC CHALLENGE/Unique ID
+	 *
+	 *         word [0] word[1]
+	 * SJC_CHALL[63:32] [31:00]
+	 */
+
+	uuid_words[0] = getreg32(IMXRT_OCOTP_CFG1);
+	uuid_words[1] = getreg32(IMXRT_OCOTP_CFG0);
+}
+
+int board_get_uuid32_formated(char *format_buffer, int size,
+			      const char *format,
+			      const char *seperator)
+{
+	uuid_uint32_t uuid;
+	board_get_uuid32(uuid);
+
+	int offset = 0;
+	int sep_size = seperator ? strlen(seperator) : 0;
+
+	for (unsigned int i = 0; i < PX4_CPU_UUID_WORD32_LENGTH; i++) {
+		offset += snprintf(&format_buffer[offset], size - ((i * 2 * sizeof(uint32_t)) + 1), format, uuid[i]);
+
+		if (sep_size && i < PX4_CPU_UUID_WORD32_LENGTH - 1) {
+			strcat(&format_buffer[offset], seperator);
+			offset += sep_size;
+		}
+	}
+
+	return 0;
+}
+
+int board_get_mfguid(mfguid_t mfgid)
+{
+	board_get_uuid(* (uuid_byte_t *) mfgid);
+	return PX4_CPU_MFGUID_BYTE_LENGTH;
+}
+
+int board_get_mfguid_formated(char *format_buffer, int size)
+{
+	mfguid_t mfguid;
+
+	board_get_mfguid(mfguid);
+	int offset  = 0;
+
+	for (unsigned int i = 0; i < PX4_CPU_MFGUID_BYTE_LENGTH; i++) {
+		offset += snprintf(&format_buffer[offset], size - offset, "%02x", mfguid[i]);
+	}
+
+	return offset;
+}
+
+int board_get_px4_guid(px4_guid_t px4_guid)
+{
+	uint8_t  *pb = (uint8_t *) &px4_guid[0];
+	*pb++ = (soc_arch_id >> 8) & 0xff;
+	*pb++ = (soc_arch_id & 0xff);
+
+	for (unsigned i = 0; i < PX4_GUID_BYTE_LENGTH - (sizeof(soc_arch_id) + PX4_CPU_UUID_BYTE_LENGTH); i++) {
+		*pb++ = 0;
+	}
+
+	board_get_uuid(pb);
+	return PX4_GUID_BYTE_LENGTH;
+}
+
+int board_get_px4_guid_formated(char *format_buffer, int size)
+{
+	px4_guid_t px4_guid;
+	board_get_px4_guid(px4_guid);
+	int offset  = 0;
+
+	/* size should be 2 per byte + 1 for termination
+	 * So it needs to be odd
+	 */
+	size = size & 1 ? size : size - 1;
+
+	/* Discard from MSD */
+	for (unsigned i = PX4_GUID_BYTE_LENGTH - size / 2; offset < size && i < PX4_GUID_BYTE_LENGTH; i++) {
+		offset += snprintf(&format_buffer[offset], size - offset, "%02x", px4_guid[i]);
+	}
+
+	return offset;
+}
@@ -0,0 +1,76 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2018, 2019 PX4 Development Team. All rights reserved.
+ *   Author: @author 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_mcu_version.c
+ * Implementation of imxrt based SoC version API
+ */
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+
+#include <chip.h>
+#include <hardware/imxrt_usb_analog.h>
+#include "up_arch.h"
+
+#define DIGPROG_MINOR_SHIFT           0
+#define DIGPROG_MINOR_MASK            (0xff << DIGPROG_MINOR_SHIFT)
+#define DIGPROG_MINOR(info)           (((info) & DIGPROG_MINOR_MASK) >> DIGPROG_MINOR_SHIFT)
+#define DIGPROG_MAJOR_LOWER_SHIFT     8
+#define DIGPROG_MAJOR_LOWER_MASK      (0xff << DIGPROG_MAJOR_LOWER_SHIFT)
+#define DIGPROG_MAJOR_LOWER(info)     (((info) & DIGPROG_MAJOR_LOWER_MASK) >> DIGPROG_MAJOR_LOWER_SHIFT)
+#define DIGPROG_MAJOR_UPPER_SHIFT     16
+#define DIGPROG_MAJOR_UPPER_MASK      (0xff << DIGPROG_MAJOR_UPPER_SHIFT)
+#define DIGPROG_MAJOR_UPPER(info)     (((info) & DIGPROG_MAJOR_UPPER_MASK) >> DIGPROG_MAJOR_UPPER_SHIFT)
+//                            876543210
+#define CHIP_TAG     "i.MX RT10?2 r?.?"
+#define CHIP_TAG_LEN sizeof(CHIP_TAG)-1
+
+int board_mcu_version(char *rev, const char **revstr, const char **errata)
+{
+	uint32_t info = getreg32(IMXRT_USB_ANALOG_DIGPROG);
+	static char chip[sizeof(CHIP_TAG)] = CHIP_TAG;
+
+	chip[CHIP_TAG_LEN - 1] = '0' +  DIGPROG_MINOR(info);
+	chip[CHIP_TAG_LEN - 3] = '1' + DIGPROG_MAJOR_LOWER(info);
+	chip[CHIP_TAG_LEN - 7] = DIGPROG_MAJOR_UPPER(info)  == 0x6a ? '5' : '6';
+	*revstr = chip;
+	*rev = '0' + DIGPROG_MINOR(info);
+
+	if (errata) {
+		*errata = NULL;
+	}
+
+	return 0;
+}
@@ -0,0 +1,44 @@
+############################################################################
+#
+#   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(../imxrt/adc adc)
+add_subdirectory(../imxrt/board_critmon board_critmon)
+add_subdirectory(../imxrt/board_hw_info board_hw_info)
+add_subdirectory(../imxrt/board_reset board_reset)
+#add_subdirectory(../imxrt/dshot dshot)
+add_subdirectory(../imxrt/hrt hrt)
+add_subdirectory(../imxrt/led_pwm led_pwm)
+add_subdirectory(../imxrt/io_pins io_pins)
+add_subdirectory(../imxrt/tone_alarm tone_alarm)
+add_subdirectory(../imxrt/version version)
@@ -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 "../../../imxrt/include/px4_arch/adc.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 "../../../imxrt/include/px4_arch/io_timer.h"
@@ -0,0 +1,109 @@
+/****************************************************************************
+ *
+ *   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 <px4_platform/micro_hal.h>
+
+__BEGIN_DECLS
+
+#define PX4_SOC_ARCH_ID             PX4_SOC_ARCH_ID_NXPIMXRT1062
+
+#// Fixme: using ??
+#define PX4_BBSRAM_SIZE             2048
+#define PX4_BBSRAM_GETDESC_IOCTL    0
+#define PX4_NUMBER_I2C_BUSES        4
+
+#define GPIO_OUTPUT_SET             GPIO_OUTPUT_ONE
+#define GPIO_OUTPUT_CLEAR           GPIO_OUTPUT_ZERO
+
+#include <chip.h>
+#include <imxrt_lpspi.h>
+#include <imxrt_lpi2c.h>
+//#    include <imxrt_uid.h> todo:Upsteam UID access
+
+/* imxrt defines the 64 bit UUID as
+ *
+ *  OCOTP 0x410 bits 31:0
+ *  OCOTP 0x420 bits 63:32
+ *
+ *  PX4 uses the words in bigendian order MSB to LSB
+ *   word  [0]    [1]
+ *   bits 63-32, 31-00,
+ */
+#define PX4_CPU_UUID_BYTE_LENGTH                8
+#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            0 /* Least significant digits change the most (die wafer,X,Y */
+#define PX4_CPU_UUID_WORD32_UNIQUE_M            1 /* Most significant digits change the least (lot#) */
+
+/*                                                  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)
+
+#define imxrt_bbsram_savepanic(fileno, context, length) (0) // todo:Not implemented yet
+
+#define px4_savepanic(fileno, context, length)   imxrt_bbsram_savepanic(fileno, context, length)
+
+/* bus_num is 1 based on imx and must be translated from the legacy one based */
+
+#define PX4_BUS_OFFSET       0                  /* imxrt buses are 1 based no adjustment needed */
+
+#define px4_spibus_initialize(bus_num_1based)   imxrt_lpspibus_initialize(PX4_BUS_NUMBER_FROM_PX4(bus_num_1based))
+
+#define px4_i2cbus_initialize(bus_num_1based)   imxrt_i2cbus_initialize(PX4_BUS_NUMBER_FROM_PX4(bus_num_1based))
+#define px4_i2cbus_uninitialize(pdev)           imxrt_i2cbus_uninitialize(pdev)
+
+#define px4_arch_configgpio(pinset)             imxrt_config_gpio(pinset)
+#define px4_arch_unconfiggpio(pinset)
+#define px4_arch_gpioread(pinset)               imxrt_gpio_read(pinset)
+#define px4_arch_gpiowrite(pinset, value)       imxrt_gpio_write(pinset, value)
+
+/* imxrt_gpiosetevent is not implemented and will need to be added */
+
+#define px4_arch_gpiosetevent(pinset,r,f,e,fp,a)  imxrt_gpiosetevent(pinset,r,f,e,fp,a)
+
+
+__END_DECLS