px4_arch imxrt: add hw description constexpr util methods

2026-05-21 01:12:11 +00:00 · 2020-01-31 10:38:47 +01:00
parent 8cd9afc19a
commit ef36d70cb4
5 changed files with 923 additions and 1 deletions
--- a/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/hw_description.h
+++ b/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/hw_description.h
@@ -0,0 +1,234 @@
+/****************************************************************************
+ *
+ *   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 <stdint.h>
+
+#include "hardware/imxrt_flexpwm.h"
+
+#include <px4_platform_common/constexpr_util.h>
+
+#include <board_config.h>
+#ifndef CONFIG_ARCH_CHIP_MIMXRT1062DVL6A
+# error "This code has only been validated with IMXRT1062. Make sure it is correct before using it on another board."
+#endif
+
+/*
+ * PWM
+ */
+
+namespace PWM
+{
+enum FlexPWM {
+	FlexPWM1 = 0,
+	FlexPWM2,
+	FlexPWM3,
+	FlexPWM4,
+};
+
+enum FlexPWMModule {
+	PWM1_PWM_A = 0,
+	PWM1_PWM_B,
+	PWM1_PWM_X,
+
+	PWM2_PWM_A,
+	PWM2_PWM_B,
+
+	PWM3_PWM_A,
+	PWM3_PWM_B,
+
+	PWM4_PWM_A,
+	PWM4_PWM_B,
+};
+
+enum FlexPWMSubmodule {
+	Submodule0 = 0,
+	Submodule1,
+	Submodule2,
+	Submodule3,
+};
+
+struct FlexPWMConfig {
+	FlexPWMModule module;
+	FlexPWMSubmodule submodule;
+};
+}
+
+static inline constexpr uint32_t getFlexPWMBaseRegister(PWM::FlexPWM pwm)
+{
+	switch (pwm) {
+	case PWM::FlexPWM1: return IMXRT_FLEXPWM1_BASE;
+
+	case PWM::FlexPWM2: return IMXRT_FLEXPWM2_BASE;
+
+	case PWM::FlexPWM3: return IMXRT_FLEXPWM3_BASE;
+
+	case PWM::FlexPWM4: return IMXRT_FLEXPWM4_BASE;
+	}
+
+	return 0;
+}
+
+namespace IOMUX
+{
+enum class Pad {
+	GPIO_EMC_00 = 0,
+	GPIO_EMC_01 = 1,
+	GPIO_EMC_02 = 2,
+	GPIO_EMC_03 = 3,
+	GPIO_EMC_04 = 4,
+	GPIO_EMC_05 = 5,
+	GPIO_EMC_06 = 6,
+	GPIO_EMC_07 = 7,
+	GPIO_EMC_08 = 8,
+	GPIO_EMC_09 = 9,
+	GPIO_EMC_10 = 10,
+	GPIO_EMC_11 = 11,
+	GPIO_EMC_12 = 12,
+	GPIO_EMC_13 = 13,
+	GPIO_EMC_14 = 14,
+	GPIO_EMC_15 = 15,
+	GPIO_EMC_16 = 16,
+	GPIO_EMC_17 = 17,
+	GPIO_EMC_18 = 18,
+	GPIO_EMC_19 = 19,
+	GPIO_EMC_20 = 20,
+	GPIO_EMC_21 = 21,
+	GPIO_EMC_22 = 22,
+	GPIO_EMC_23 = 23,
+	GPIO_EMC_24 = 24,
+	GPIO_EMC_25 = 25,
+	GPIO_EMC_26 = 26,
+	GPIO_EMC_27 = 27,
+	GPIO_EMC_28 = 28,
+	GPIO_EMC_29 = 29,
+	GPIO_EMC_30 = 30,
+	GPIO_EMC_31 = 31,
+	GPIO_EMC_32 = 32,
+	GPIO_EMC_33 = 33,
+	GPIO_EMC_34 = 34,
+	GPIO_EMC_35 = 35,
+	GPIO_EMC_36 = 36,
+	GPIO_EMC_37 = 37,
+	GPIO_EMC_38 = 38,
+	GPIO_EMC_39 = 39,
+	GPIO_EMC_40 = 40,
+	GPIO_EMC_41 = 41,
+	GPIO_AD_B0_00 = 42,
+	GPIO_AD_B0_01 = 43,
+	GPIO_AD_B0_02 = 44,
+	GPIO_AD_B0_03 = 45,
+	GPIO_AD_B0_04 = 46,
+	GPIO_AD_B0_05 = 47,
+	GPIO_AD_B0_06 = 48,
+	GPIO_AD_B0_07 = 49,
+	GPIO_AD_B0_08 = 50,
+	GPIO_AD_B0_09 = 51,
+	GPIO_AD_B0_10 = 52,
+	GPIO_AD_B0_11 = 53,
+	GPIO_AD_B0_12 = 54,
+	GPIO_AD_B0_13 = 55,
+	GPIO_AD_B0_14 = 56,
+	GPIO_AD_B0_15 = 57,
+	GPIO_AD_B1_00 = 58,
+	GPIO_AD_B1_01 = 59,
+	GPIO_AD_B1_02 = 60,
+	GPIO_AD_B1_03 = 61,
+	GPIO_AD_B1_04 = 62,
+	GPIO_AD_B1_05 = 63,
+	GPIO_AD_B1_06 = 64,
+	GPIO_AD_B1_07 = 65,
+	GPIO_AD_B1_08 = 66,
+	GPIO_AD_B1_09 = 67,
+	GPIO_AD_B1_10 = 68,
+	GPIO_AD_B1_11 = 69,
+	GPIO_AD_B1_12 = 70,
+	GPIO_AD_B1_13 = 71,
+	GPIO_AD_B1_14 = 72,
+	GPIO_AD_B1_15 = 73,
+	GPIO_B0_00 = 74,
+	GPIO_B0_01 = 75,
+	GPIO_B0_02 = 76,
+	GPIO_B0_03 = 77,
+	GPIO_B0_04 = 78,
+	GPIO_B0_05 = 79,
+	GPIO_B0_06 = 80,
+	GPIO_B0_07 = 81,
+	GPIO_B0_08 = 82,
+	GPIO_B0_09 = 83,
+	GPIO_B0_10 = 84,
+	GPIO_B0_11 = 85,
+	GPIO_B0_12 = 86,
+	GPIO_B0_13 = 87,
+	GPIO_B0_14 = 88,
+	GPIO_B0_15 = 89,
+	GPIO_B1_00 = 90,
+	GPIO_B1_01 = 91,
+	GPIO_B1_02 = 92,
+	GPIO_B1_03 = 93,
+	GPIO_B1_04 = 94,
+	GPIO_B1_05 = 95,
+	GPIO_B1_06 = 96,
+	GPIO_B1_07 = 97,
+	GPIO_B1_08 = 98,
+	GPIO_B1_09 = 99,
+	GPIO_B1_10 = 100,
+	GPIO_B1_11 = 101,
+	GPIO_B1_12 = 102,
+	GPIO_B1_13 = 103,
+	GPIO_B1_14 = 104,
+	GPIO_B1_15 = 105,
+	GPIO_SD_B0_00 =  106,
+	GPIO_SD_B0_01 =  107,
+	GPIO_SD_B0_02 =  108,
+	GPIO_SD_B0_03 =  109,
+	GPIO_SD_B0_04 =  110,
+	GPIO_SD_B0_05 =  111,
+	GPIO_SD_B1_00 =  112,
+	GPIO_SD_B1_01 =  113,
+	GPIO_SD_B1_02 =  114,
+	GPIO_SD_B1_03 =  115,
+	GPIO_SD_B1_04 =  116,
+	GPIO_SD_B1_05 =  117,
+	GPIO_SD_B1_06 =  118,
+	GPIO_SD_B1_07 =  119,
+	GPIO_SD_B1_08 =  120,
+	GPIO_SD_B1_09 =  121,
+	GPIO_SD_B1_10 =  122,
+	GPIO_SD_B1_11 =  123,
+};
+
+}
+
--- a/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/io_timer.h
+++ b/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/io_timer.h
@@ -91,7 +91,7 @@ typedef struct io_timers_channel_mapping_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_out;            /* The timer valn_offset GPIO for PWM (this is the IOMUX Pad, e.g. PWM_IOMUX | GPIO_FLEXPWM2_PWMA00_2) */
 	uint32_t	gpio_in;             /* The timer valn_offset GPIO for Capture */
 	uint32_t	gpio_portpin;        /* The GPIO Port + Pin (e.g. GPIO_PORT2 | GPIO_PIN6) */
 	uint8_t		timer_index;         /* 0 based index in the io_timers_t table */
--- a/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/io_timer_hw_description.h
+++ b/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/io_timer_hw_description.h
@@ -0,0 +1,614 @@
+/****************************************************************************
+ *
+ *   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_arch/io_timer.h>
+#include <px4_arch/hw_description.h>
+#include <px4_platform_common/constexpr_util.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform/io_timer_init.h>
+
+#include <hardware/imxrt_tmr.h>
+#include <hardware/imxrt_flexpwm.h>
+#include <imxrt_gpio.h>
+#include <imxrt_iomuxc.h>
+#include <hardware/imxrt_pinmux.h>
+
+#include <board_config.h>
+#ifndef CONFIG_ARCH_CHIP_MIMXRT1062DVL6A
+# error "This code has only been validated with IMXRT1062. Make sure it is correct before using it on another board."
+#endif
+
+
+static inline constexpr timer_io_channels_t initIOTimerChannel(const io_timers_t io_timers_conf[MAX_IO_TIMERS],
+		PWM::FlexPWMConfig pwm_config, IOMUX::Pad pad)
+{
+	timer_io_channels_t ret{};
+
+	PWM::FlexPWM pwm{};
+
+	// FlexPWM Muxing Options
+	switch (pwm_config.module) {
+	case PWM::PWM1_PWM_A:
+		pwm = PWM::FlexPWM1;
+
+		switch (pwm_config.submodule) {
+		case PWM::Submodule0:
+			if (pad == IOMUX::Pad::GPIO_EMC_23) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_23_INDEX);
+				ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN23;
+
+			} else if (pad == IOMUX::Pad::GPIO_SD_B0_00) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B0_00_INDEX);
+				ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN12;
+			}
+
+			break;
+
+		case PWM::Submodule1:
+			if (pad == IOMUX::Pad::GPIO_EMC_25) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_25_INDEX);
+				ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN25;
+
+			} else if (pad == IOMUX::Pad::GPIO_SD_B0_02) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B0_02_INDEX);
+				ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN14;
+			}
+
+			break;
+
+		case PWM::Submodule2:
+			if (pad == IOMUX::Pad::GPIO_EMC_27) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_27_INDEX);
+				ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN27;
+
+			} else if (pad == IOMUX::Pad::GPIO_SD_B0_04) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B0_04_INDEX);
+				ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN16;
+			}
+
+			break;
+
+		case PWM::Submodule3:
+			if (pad == IOMUX::Pad::GPIO_EMC_38) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_38_INDEX);
+				ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN24;
+
+			} else if (pad == IOMUX::Pad::GPIO_SD_B1_00) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B1_00_INDEX);
+				ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN0;
+
+			} else if (pad == IOMUX::Pad::GPIO_AD_B0_10) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B0_10_INDEX);
+				ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN10;
+
+			} else if (pad == IOMUX::Pad::GPIO_EMC_12) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_12_INDEX);
+				ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN12;
+
+			} else if (pad == IOMUX::Pad::GPIO_B1_00) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT6 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B1_00_INDEX);
+				ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN16;
+			}
+
+			break;
+		}
+
+		break;
+
+	case PWM::PWM1_PWM_B:
+		pwm = PWM::FlexPWM1;
+
+		switch (pwm_config.submodule) {
+		case PWM::Submodule0:
+			if (pad == IOMUX::Pad::GPIO_EMC_24) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_24_INDEX);
+				ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN24;
+
+			} else if (pad == IOMUX::Pad::GPIO_SD_B0_01) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B0_01_INDEX);
+				ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN13;
+			}
+
+			break;
+
+		case PWM::Submodule1:
+			if (pad == IOMUX::Pad::GPIO_EMC_26) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_26_INDEX);
+				ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN26;
+
+			} else if (pad == IOMUX::Pad::GPIO_SD_B0_03) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B0_03_INDEX);
+				ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN15;
+			}
+
+			break;
+
+		case PWM::Submodule2:
+			if (pad == IOMUX::Pad::GPIO_EMC_28) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_28_INDEX);
+				ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN28;
+
+			} else if (pad == IOMUX::Pad::GPIO_SD_B0_05) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B0_05_INDEX);
+				ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN17;
+			}
+
+			break;
+
+		case PWM::Submodule3:
+			if (pad == IOMUX::Pad::GPIO_EMC_39) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_39_INDEX);
+				ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN25;
+
+			} else if (pad == IOMUX::Pad::GPIO_SD_B1_01) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B1_01_INDEX);
+				ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN1;
+
+			} else if (pad == IOMUX::Pad::GPIO_AD_B0_11) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B0_11_INDEX);
+				ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN11;
+
+			} else if (pad == IOMUX::Pad::GPIO_EMC_13) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_13_INDEX);
+				ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN13;
+
+			} else if (pad == IOMUX::Pad::GPIO_B1_01) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT6 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B1_01_INDEX);
+				ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN17;
+			}
+
+			break;
+		}
+
+		break;
+
+	case PWM::PWM1_PWM_X:
+		pwm = PWM::FlexPWM1;
+
+		switch (pwm_config.submodule) {
+		case PWM::Submodule0:
+			if (pad == IOMUX::Pad::GPIO_AD_B0_02) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B0_02_INDEX);
+				ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN2;
+			}
+
+			break;
+
+		case PWM::Submodule1:
+			if (pad == IOMUX::Pad::GPIO_AD_B0_03) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B0_03_INDEX);
+				ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN3;
+			}
+
+			break;
+
+		case PWM::Submodule2:
+			if (pad == IOMUX::Pad::GPIO_AD_B0_12) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B0_12_INDEX);
+				ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN12;
+			}
+
+			break;
+
+		case PWM::Submodule3:
+			if (pad == IOMUX::Pad::GPIO_AD_B0_13) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT4 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B0_13_INDEX);
+				ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN13;
+			}
+
+			break;
+		}
+
+		break;
+
+
+	case PWM::PWM2_PWM_A:
+		pwm = PWM::FlexPWM2;
+
+		switch (pwm_config.submodule) {
+		case PWM::Submodule0:
+			if (pad == IOMUX::Pad::GPIO_B0_06) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B0_06_INDEX);
+				ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN6;
+
+			} else if (pad == IOMUX::Pad::GPIO_EMC_06) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_06_INDEX);
+				ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN6;
+			}
+
+			break;
+
+		case PWM::Submodule1:
+			if (pad == IOMUX::Pad::GPIO_EMC_08) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_08_INDEX);
+				ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN8;
+
+			} else if (pad == IOMUX::Pad::GPIO_B0_08) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B0_08_INDEX);
+				ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN8;
+			}
+
+			break;
+
+		case PWM::Submodule2:
+			if (pad == IOMUX::Pad::GPIO_EMC_10) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_10_INDEX);
+				ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN10;
+
+			} else if (pad == IOMUX::Pad::GPIO_B0_10) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B0_10_INDEX);
+				ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN10;
+			}
+
+			break;
+
+		case PWM::Submodule3:
+			if (pad == IOMUX::Pad::GPIO_AD_B0_09) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B0_09_INDEX);
+				ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN9;
+
+			} else if (pad == IOMUX::Pad::GPIO_SD_B1_02) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B1_02_INDEX);
+				ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN2;
+
+			} else if (pad == IOMUX::Pad::GPIO_EMC_19) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_19_INDEX);
+				ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN19;
+
+			} else if (pad == IOMUX::Pad::GPIO_B1_02) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT6 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B1_02_INDEX);
+				ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN18;
+
+			} else if (pad == IOMUX::Pad::GPIO_AD_B0_00) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT0 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B0_00_INDEX);
+				ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN0;
+			}
+
+			break;
+		}
+
+		break;
+
+	case PWM::PWM2_PWM_B:
+		pwm = PWM::FlexPWM2;
+
+		switch (pwm_config.submodule) {
+		case PWM::Submodule0:
+			if (pad == IOMUX::Pad::GPIO_B0_07) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B0_07_INDEX);
+				ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN6;
+
+			} else if (pad == IOMUX::Pad::GPIO_EMC_07) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_07_INDEX);
+				ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN6;
+			}
+
+			break;
+
+		case PWM::Submodule1:
+			if (pad == IOMUX::Pad::GPIO_EMC_09) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_09_INDEX);
+				ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN8;
+
+			} else if (pad == IOMUX::Pad::GPIO_B0_09) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B0_09_INDEX);
+				ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN8;
+			}
+
+			break;
+
+		case PWM::Submodule2:
+			if (pad == IOMUX::Pad::GPIO_EMC_11) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_11_INDEX);
+				ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN10;
+
+			} else if (pad == IOMUX::Pad::GPIO_B0_11) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B0_11_INDEX);
+				ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN10;
+			}
+
+			break;
+
+		case PWM::Submodule3:
+			if (pad == IOMUX::Pad::GPIO_AD_B0_01) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT0 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B0_01_INDEX);
+				ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN1;
+
+			} else if (pad == IOMUX::Pad::GPIO_SD_B1_03) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT2 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_SD_B1_03_INDEX);
+				ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN3;
+
+			} else if (pad == IOMUX::Pad::GPIO_EMC_20) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_20_INDEX);
+				ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN20;
+
+			} else if (pad == IOMUX::Pad::GPIO_B1_03) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT6 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B1_03_INDEX);
+				ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN19;
+			}
+
+			break;
+		}
+
+		break;
+
+
+	case PWM::PWM3_PWM_A:
+		pwm = PWM::FlexPWM3;
+
+		switch (pwm_config.submodule) {
+		case PWM::Submodule0:
+			if (pad == IOMUX::Pad::GPIO_EMC_29) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_29_INDEX);
+				ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN29;
+			}
+
+			break;
+
+		case PWM::Submodule1:
+			if (pad == IOMUX::Pad::GPIO_EMC_31) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_31_INDEX);
+				ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN31;
+			}
+
+			break;
+
+		case PWM::Submodule2:
+			if (pad == IOMUX::Pad::GPIO_EMC_33) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_33_INDEX);
+				ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN19;
+			}
+
+			break;
+
+		case PWM::Submodule3:
+			if (pad == IOMUX::Pad::GPIO_EMC_21) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_21_INDEX);
+				ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN21;
+			}
+
+			break;
+		}
+
+		break;
+
+	case PWM::PWM3_PWM_B:
+		pwm = PWM::FlexPWM3;
+
+		switch (pwm_config.submodule) {
+		case PWM::Submodule0:
+			if (pad == IOMUX::Pad::GPIO_EMC_30) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_30_INDEX);
+				ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN30;
+			}
+
+			break;
+
+		case PWM::Submodule1:
+			if (pad == IOMUX::Pad::GPIO_EMC_32) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_32_INDEX);
+				ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN18;
+			}
+
+			break;
+
+		case PWM::Submodule2:
+			if (pad == IOMUX::Pad::GPIO_EMC_34) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_34_INDEX);
+				ret.gpio_portpin = GPIO_PORT3 | GPIO_PIN20;
+			}
+
+			break;
+
+		case PWM::Submodule3:
+			if (pad == IOMUX::Pad::GPIO_EMC_22) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_22_INDEX);
+				ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN22;
+			}
+
+			break;
+		}
+
+		break;
+
+
+	case PWM::PWM4_PWM_A:
+		pwm = PWM::FlexPWM4;
+
+		switch (pwm_config.submodule) {
+		case PWM::Submodule0:
+			if (pad == IOMUX::Pad::GPIO_AD_B1_08) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B1_08_INDEX);
+				ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN24;
+
+			} else if (pad == IOMUX::Pad::GPIO_EMC_00) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_00_INDEX);
+				ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN0;
+			}
+
+			break;
+
+		case PWM::Submodule1:
+			if (pad == IOMUX::Pad::GPIO_EMC_02) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_02_INDEX);
+				ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN2;
+
+			} else if (pad == IOMUX::Pad::GPIO_AD_B1_09) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_AD_B1_09_INDEX);
+				ret.gpio_portpin = GPIO_PORT1 | GPIO_PIN25;
+			}
+
+			break;
+
+		case PWM::Submodule2:
+			if (pad == IOMUX::Pad::GPIO_EMC_04) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_04_INDEX);
+				ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN4;
+
+			} else if (pad == IOMUX::Pad::GPIO_B1_14) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B1_14_INDEX);
+				ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN30;
+			}
+
+			break;
+
+		case PWM::Submodule3:
+			if (pad == IOMUX::Pad::GPIO_EMC_17) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_17_INDEX);
+				ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN17;
+
+			} else if (pad == IOMUX::Pad::GPIO_B1_15) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_B1_15_INDEX);
+				ret.gpio_portpin = GPIO_PORT2 | GPIO_PIN31;
+			}
+
+			break;
+		}
+
+		break;
+
+	case PWM::PWM4_PWM_B:
+		pwm = PWM::FlexPWM4;
+
+		switch (pwm_config.submodule) {
+		case PWM::Submodule0:
+			if (pad == IOMUX::Pad::GPIO_EMC_01) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_01_INDEX);
+				ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN1;
+			}
+
+			break;
+
+		case PWM::Submodule1:
+			if (pad == IOMUX::Pad::GPIO_EMC_03) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_03_INDEX);
+				ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN3;
+			}
+
+			break;
+
+		case PWM::Submodule2:
+			if (pad == IOMUX::Pad::GPIO_EMC_05) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_05_INDEX);
+				ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN5;
+			}
+
+			break;
+
+		case PWM::Submodule3:
+			if (pad == IOMUX::Pad::GPIO_EMC_18) {
+				ret.gpio_out = GPIO_PERIPH | GPIO_ALT1 | GPIO_PADMUX(IMXRT_PADMUX_GPIO_EMC_18_INDEX);
+				ret.gpio_portpin = GPIO_PORT4 | GPIO_PIN18;
+			}
+
+			break;
+		}
+
+		break;
+	}
+
+	constexpr_assert(ret.gpio_out != 0, "Invalid PWM/Pad config");
+	ret.gpio_out |= IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_50OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST;
+
+	switch (pwm_config.module) {
+	case PWM::PWM1_PWM_A:
+	case PWM::PWM2_PWM_A:
+	case PWM::PWM3_PWM_A:
+	case PWM::PWM4_PWM_A:
+		ret.val_offset = PWMA_VAL;
+		break;
+
+	case PWM::PWM1_PWM_B:
+	case PWM::PWM2_PWM_B:
+	case PWM::PWM3_PWM_B:
+	case PWM::PWM4_PWM_B:
+		ret.val_offset = PWMB_VAL;
+		break;
+
+	default:
+		constexpr_assert(false, "not implemented");
+	}
+
+	switch (pwm_config.submodule) {
+	case PWM::Submodule0:
+		ret.sub_module = SM0;
+		ret.sub_module_bits = MCTRL_LDOK(1 << SM0);
+		break;
+
+	case PWM::Submodule1:
+		ret.sub_module = SM1;
+		ret.sub_module_bits = MCTRL_LDOK(1 << SM1);
+		break;
+
+	case PWM::Submodule2:
+		ret.sub_module = SM2;
+		ret.sub_module_bits = MCTRL_LDOK(1 << SM2);
+		break;
+
+	case PWM::Submodule3:
+		ret.sub_module = SM3;
+		ret.sub_module_bits = MCTRL_LDOK(1 << SM3);
+		break;
+	}
+
+	ret.gpio_in = 0; // TODO (not used yet)
+
+	// find timer index
+	ret.timer_index = 0xff;
+	const uint32_t timer_base = getFlexPWMBaseRegister(pwm);
+
+	for (int i = 0; i < MAX_IO_TIMERS; ++i) {
+		if (io_timers_conf[i].base == timer_base) {
+			ret.timer_index = i;
+			break;
+		}
+	}
+
+	constexpr_assert(ret.timer_index != 0xff, "Timer not found");
+
+	return ret;
+}
+
+static inline constexpr io_timers_t initIOPWM(PWM::FlexPWM pwm)
+{
+	io_timers_t ret{};
+
+	ret.base = getFlexPWMBaseRegister(pwm);
+
+	return ret;
+}
+
+
--- a/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/hw_description.h
+++ b/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/hw_description.h
@@ -0,0 +1,37 @@
+/****************************************************************************
+ *
+ *   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/hw_description.h"
+
--- a/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/io_timer_hw_description.h
+++ b/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/io_timer_hw_description.h
@@ -0,0 +1,37 @@
+/****************************************************************************
+ *
+ *   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_hw_description.h"
+