boards/imx93-evk: Add initialization of DShot driver

This adds initialization of the flexio_dshot driver to the
imx93-evk:nsh target.

Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae>

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

@@ -49,6 +49,7 @@ CONFIG_IMX9_ENET1_RGMII=y
 CONFIG_IMX9_ENET1_RGMII_ID=y
 CONFIG_IMX9_ENET=y
 CONFIG_IMX9_ENET_USE_OTP_MAC=y
+CONFIG_IMX9_FLEXIO1_DSHOT=y
 CONFIG_IMX9_FLEXIO1_PWM=y
 CONFIG_IMX9_GPIO_IRQ=y
 CONFIG_IMX9_LPI2C1=y

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

@@ -60,6 +60,20 @@
 #define FLEXIO1_PWM2_MUX IOMUX_CFG(IOMUXC_PAD_GPIO_IO06_FLEXIO1_FLEXIO06, IOMUXC_PAD_FSEL_SFAST | IOMUXC_PAD_DSE_X6, 0)
 #define FLEXIO1_PWM3_MUX IOMUX_CFG(IOMUXC_PAD_GPIO_IO07_FLEXIO1_FLEXIO07, IOMUXC_PAD_FSEL_SFAST | IOMUXC_PAD_DSE_X6, 0)
 
+/* FLEXIO to DSHOT pin muxings */
+
+/* EVK signals
+ * GPIO_IO04 -> FLEXIO1_04
+ * GPIO_IO05 -> FLEXIO1_05
+ * GPIO_IO06 -> FLEXIO1_06
+ * GPIO_IO07 -> FLEXIO1_07
+ */
+
+#define FLEXIO1_DSHOT0_MUX IOMUX_CFG(IOMUXC_PAD_GPIO_IO04_FLEXIO1_FLEXIO04, IOMUXC_PAD_FSEL_SFAST | IOMUXC_PAD_DSE_X4 | IOMUXC_PAD_PU_ON | IOMUXC_PAD_HYS_ST_ON, IOMUXC_MUX_SION_ON)
+#define FLEXIO1_DSHOT1_MUX IOMUX_CFG(IOMUXC_PAD_GPIO_IO05_FLEXIO1_FLEXIO05, IOMUXC_PAD_FSEL_SFAST | IOMUXC_PAD_DSE_X4 | IOMUXC_PAD_PU_ON | IOMUXC_PAD_HYS_ST_ON, IOMUXC_MUX_SION_ON)
+#define FLEXIO1_DSHOT2_MUX IOMUX_CFG(IOMUXC_PAD_GPIO_IO06_FLEXIO1_FLEXIO06, IOMUXC_PAD_FSEL_SFAST | IOMUXC_PAD_DSE_X4 | IOMUXC_PAD_PU_ON | IOMUXC_PAD_HYS_ST_ON, IOMUXC_MUX_SION_ON)
+#define FLEXIO1_DSHOT3_MUX IOMUX_CFG(IOMUXC_PAD_GPIO_IO07_FLEXIO1_FLEXIO07, IOMUXC_PAD_FSEL_SFAST | IOMUXC_PAD_DSE_X4 | IOMUXC_PAD_PU_ON | IOMUXC_PAD_HYS_ST_ON, IOMUXC_MUX_SION_ON)
+
 /* LPI2Cs */
 
 /* TPM3 ch3 to PWM pin GPIO_IO24 muxing */

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

@@ -32,6 +32,10 @@ ifeq ($(CONFIG_PWM),y)
 CSRCS += imx9_pwm.c
 endif
 
+ifeq ($(CONFIG_DSHOT),y)
+CSRCS += imx9_dshot.c
+endif
+
 ifeq ($(CONFIG_IMX9_LPI2C),y)
 CSRCS += imx9_i2c.c
 endif

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

@@ -87,6 +87,18 @@ int imx9_bringup(void);
 int imx9_pwm_setup(void);
 #endif
 
+/****************************************************************************
+ * Name: imx9_dshot_setup
+ *
+ * Description:
+ *   Initialize DShot outputs
+ *
+ ****************************************************************************/
+
+#if defined(CONFIG_DSHOT)
+int imx9_dshot_setup(void);
+#endif
+
 /****************************************************************************
  * Name: imx9_i2c_setup
  *

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

@@ -104,6 +104,16 @@ int imx9_bringup(void)
     }
 #endif
 
+#ifdef CONFIG_DSHOT
+  /* Configure DSHOT outputs */
+
+  ret = imx9_dshot_setup();
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: Failed initialize DShot outputs: %d\n", ret);
+    }
+#endif
+
 #if defined(CONFIG_I2C_DRIVER)
   /* Configure I2C peripheral interfaces */
 

boards/arm64/imx9/imx93-evk/src/imx9_dshot.c

@@ -0,0 +1,100 @@
+/****************************************************************************
+ * boards/arm64/imx9/imx93-evk/src/imx9_dshot.c
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/timers/dshot.h>
+#include <arch/board/board.h>
+
+#include <errno.h>
+
+#include "imx9_flexio_dshot.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: imx9_dshot_setup
+ *
+ * Description:
+ *
+ *   Initialize DShot and register DShot devices
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   0 on success, negated error value on error
+ *
+ ****************************************************************************/
+
+int imx9_dshot_setup(void)
+{
+  struct dshot_lowerhalf_s *lower_half = NULL;
+  int ret = 0;
+
+#ifdef CONFIG_IMX9_FLEXIO1_DSHOT
+  lower_half = imx9_flexio_dshot_init(DSHOT_FLEXIO1);
+
+  if (lower_half)
+    {
+      ret = dshot_register("/dev/dshot0", lower_half);
+    }
+  else
+    {
+      ret = -ENODEV;
+    }
+
+  if (ret < 0)
+    {
+      return ret;
+    }
+#endif
+
+#ifdef CONFIG_IMX9_FLEXIO2_DSHOT
+  lower_half = imx9_flexio_dshot_init(DSHOT_FLEXIO2);
+
+  if (lower_half)
+    {
+      ret = dshot_register("/dev/dshot1", lower_half);
+    }
+  else
+    {
+      ret = -ENODEV;
+    }
+
+  if (ret < 0)
+    {
+      return ret;
+    }
+#endif
+
+  return ret;
+}