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diff --git a/bsps/arm/imxrt/mcux-sdk/drivers/qtmr_1/fsl_qtmr.h b/bsps/arm/imxrt/mcux-sdk/drivers/qtmr_1/fsl_qtmr.h
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+++ b/bsps/arm/imxrt/mcux-sdk/drivers/qtmr_1/fsl_qtmr.h
@@ -0,0 +1,563 @@
+/*
+ * Copyright 2017-2022 NXP
+ * All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+#ifndef _FSL_QTMR_H_
+#define _FSL_QTMR_H_
+
+#include "fsl_common.h"
+#ifdef __rtems__
+#include <rtems.h>
+#endif /* __rtems__ */
+
+/*!
+ * @addtogroup qtmr
+ * @{
+ */
+
+/*******************************************************************************
+ * Definitions
+ ******************************************************************************/
+#ifndef TMR_CSCTRL_OFLAG_MASK
+#define TMR_CSCTRL_OFLAG_MASK (0x100UL)
+#endif
+
+#ifndef TMR_CSCTRL_OFLAG_SHIFT
+#define TMR_CSCTRL_OFLAG_SHIFT (8UL)
+#endif
+
+/*! @name Driver version */
+/*@{*/
+#define FSL_QTMR_DRIVER_VERSION (MAKE_VERSION(2, 2, 1)) /*!< Version */
+/*@}*/
+
+/*! @brief Quad Timer primary clock source selection*/
+typedef enum _qtmr_primary_count_source
+{
+ kQTMR_ClockCounter0InputPin = 0, /*!< Use counter 0 input pin */
+ kQTMR_ClockCounter1InputPin, /*!< Use counter 1 input pin */
+ kQTMR_ClockCounter2InputPin, /*!< Use counter 2 input pin */
+ kQTMR_ClockCounter3InputPin, /*!< Use counter 3 input pin */
+ kQTMR_ClockCounter0Output, /*!< Use counter 0 output */
+ kQTMR_ClockCounter1Output, /*!< Use counter 1 output */
+ kQTMR_ClockCounter2Output, /*!< Use counter 2 output */
+ kQTMR_ClockCounter3Output, /*!< Use counter 3 output */
+ kQTMR_ClockDivide_1, /*!< IP bus clock divide by 1 prescaler */
+ kQTMR_ClockDivide_2, /*!< IP bus clock divide by 2 prescaler */
+ kQTMR_ClockDivide_4, /*!< IP bus clock divide by 4 prescaler */
+ kQTMR_ClockDivide_8, /*!< IP bus clock divide by 8 prescaler */
+ kQTMR_ClockDivide_16, /*!< IP bus clock divide by 16 prescaler */
+ kQTMR_ClockDivide_32, /*!< IP bus clock divide by 32 prescaler */
+ kQTMR_ClockDivide_64, /*!< IP bus clock divide by 64 prescaler */
+ kQTMR_ClockDivide_128 /*!< IP bus clock divide by 128 prescaler */
+} qtmr_primary_count_source_t;
+
+/*! @brief Quad Timer input sources selection*/
+typedef enum _qtmr_input_source
+{
+ kQTMR_Counter0InputPin = 0, /*!< Use counter 0 input pin */
+ kQTMR_Counter1InputPin, /*!< Use counter 1 input pin */
+ kQTMR_Counter2InputPin, /*!< Use counter 2 input pin */
+ kQTMR_Counter3InputPin /*!< Use counter 3 input pin */
+} qtmr_input_source_t;
+
+/*! @brief Quad Timer counting mode selection */
+typedef enum _qtmr_counting_mode
+{
+ kQTMR_NoOperation = 0, /*!< No operation */
+ kQTMR_PriSrcRiseEdge, /*!< Count rising edges of primary source */
+ kQTMR_PriSrcRiseAndFallEdge, /*!< Count rising and falling edges of primary source */
+ kQTMR_PriSrcRiseEdgeSecInpHigh, /*!< Count rise edges of pri SRC while sec inp high active */
+ kQTMR_QuadCountMode, /*!< Quadrature count mode, uses pri and sec sources */
+ kQTMR_PriSrcRiseEdgeSecDir, /*!< Count rising edges of pri SRC; sec SRC specifies dir */
+ kQTMR_SecSrcTrigPriCnt, /*!< Edge of sec SRC trigger primary count until compare*/
+ kQTMR_CascadeCount /*!< Cascaded count mode (up/down) */
+} qtmr_counting_mode_t;
+
+/*! @brief Quad Timer PWM output state */
+typedef enum _qtmr_pwm_out_state
+{
+ kQTMR_PwmLow = 0, /*!< The output state of PWM channel is low */
+ kQTMR_PwmHigh, /*!< The output state of PWM channel is low */
+} qtmr_pwm_out_state_t;
+
+/*! @brief Quad Timer output mode selection*/
+typedef enum _qtmr_output_mode
+{
+ kQTMR_AssertWhenCountActive = 0, /*!< Assert OFLAG while counter is active*/
+ kQTMR_ClearOnCompare, /*!< Clear OFLAG on successful compare */
+ kQTMR_SetOnCompare, /*!< Set OFLAG on successful compare */
+ kQTMR_ToggleOnCompare, /*!< Toggle OFLAG on successful compare */
+ kQTMR_ToggleOnAltCompareReg, /*!< Toggle OFLAG using alternating compare registers */
+ kQTMR_SetOnCompareClearOnSecSrcInp, /*!< Set OFLAG on compare, clear on sec SRC input edge */
+ kQTMR_SetOnCompareClearOnCountRoll, /*!< Set OFLAG on compare, clear on counter rollover */
+ kQTMR_EnableGateClock /*!< Enable gated clock output while count is active */
+} qtmr_output_mode_t;
+
+/*! @brief Quad Timer input capture edge mode, rising edge, or falling edge */
+typedef enum _qtmr_input_capture_edge
+{
+ kQTMR_NoCapture = 0, /*!< Capture is disabled */
+ kQTMR_RisingEdge, /*!< Capture on rising edge (IPS=0) or falling edge (IPS=1)*/
+ kQTMR_FallingEdge, /*!< Capture on falling edge (IPS=0) or rising edge (IPS=1)*/
+ kQTMR_RisingAndFallingEdge /*!< Capture on both edges */
+} qtmr_input_capture_edge_t;
+
+/*! @brief Quad Timer input capture edge mode, rising edge, or falling edge */
+typedef enum _qtmr_preload_control
+{
+ kQTMR_NoPreload = 0, /*!< Never preload */
+ kQTMR_LoadOnComp1, /*!< Load upon successful compare with value in COMP1 */
+ kQTMR_LoadOnComp2 /*!< Load upon successful compare with value in COMP2*/
+} qtmr_preload_control_t;
+
+/*! @brief List of Quad Timer run options when in Debug mode */
+typedef enum _qtmr_debug_action
+{
+ kQTMR_RunNormalInDebug = 0U, /*!< Continue with normal operation */
+ kQTMR_HaltCounter, /*!< Halt counter */
+ kQTMR_ForceOutToZero, /*!< Force output to logic 0 */
+ kQTMR_HaltCountForceOutZero /*!< Halt counter and force output to logic 0 */
+} qtmr_debug_action_t;
+
+/*! @brief List of Quad Timer interrupts */
+// typedef enum _qtmr_interrupt_enable
+typedef enum _qtmr_interrupt_enable
+{
+ kQTMR_CompareInterruptEnable = (1U << 0), /*!< Compare interrupt.*/
+ kQTMR_Compare1InterruptEnable = (1U << 1), /*!< Compare 1 interrupt.*/
+ kQTMR_Compare2InterruptEnable = (1U << 2), /*!< Compare 2 interrupt.*/
+ kQTMR_OverflowInterruptEnable = (1U << 3), /*!< Timer overflow interrupt.*/
+ kQTMR_EdgeInterruptEnable = (1U << 4) /*!< Input edge interrupt.*/
+} qtmr_interrupt_enable_t;
+
+/*! @brief List of Quad Timer flags */
+typedef enum _qtmr_status_flags
+{
+ kQTMR_CompareFlag = (1U << 0), /*!< Compare flag */
+ kQTMR_Compare1Flag = (1U << 1), /*!< Compare 1 flag */
+ kQTMR_Compare2Flag = (1U << 2), /*!< Compare 2 flag */
+ kQTMR_OverflowFlag = (1U << 3), /*!< Timer overflow flag */
+ kQTMR_EdgeFlag = (1U << 4) /*!< Input edge flag */
+} qtmr_status_flags_t;
+
+/*! @brief List of channel selection */
+typedef enum _qtmr_channel_selection
+{
+ kQTMR_Channel_0 = 0U, /*!< TMR Channel 0 */
+ kQTMR_Channel_1, /*!< TMR Channel 1 */
+ kQTMR_Channel_2, /*!< TMR Channel 2 */
+ kQTMR_Channel_3, /*!< TMR Channel 3 */
+} qtmr_channel_selection_t;
+
+/*! @brief List of Quad Timer DMA enable */
+typedef enum _qtmr_dma_enable
+{
+ kQTMR_InputEdgeFlagDmaEnable = (1U << 0), /*!< Input Edge Flag DMA Enable.*/
+ kQTMR_ComparatorPreload1DmaEnable = (1U << 1), /*!< Comparator Preload Register 1 DMA Enable.*/
+ kQTMR_ComparatorPreload2DmaEnable = (1U << 2), /*!< Comparator Preload Register 2 DMA Enable.*/
+} qtmr_dma_enable_t;
+
+/*!
+ * @brief Quad Timer config structure
+ *
+ * This structure holds the configuration settings for the Quad Timer peripheral. To initialize this
+ * structure to reasonable defaults, call the QTMR_GetDefaultConfig() function and pass a
+ * pointer to your config structure instance.
+ *
+ * The config struct can be made const so it resides in flash
+ */
+typedef struct _qtmr_config
+{
+ qtmr_primary_count_source_t primarySource; /*!< Specify the primary count source */
+ qtmr_input_source_t secondarySource; /*!< Specify the secondary count source */
+ bool enableMasterMode; /*!< true: Broadcast compare function output to other counters;
+ false no broadcast */
+ bool enableExternalForce; /*!< true: Compare from another counter force state of OFLAG signal
+ false: OFLAG controlled by local counter */
+ uint8_t faultFilterCount; /*!< Fault filter count */
+ uint8_t faultFilterPeriod; /*!< Fault filter period;value of 0 will bypass the filter */
+ qtmr_debug_action_t debugMode; /*!< Operation in Debug mode */
+} qtmr_config_t;
+
+/*******************************************************************************
+ * API
+ ******************************************************************************/
+
+#if defined(__cplusplus)
+extern "C" {
+#endif
+
+/*!
+ * @name Initialization and deinitialization
+ * @{
+ */
+#ifdef __rtems__
+/*!
+ * @brief Return the timer base based on a FDT node.
+ *
+ * @param fdt Pointer to the fdt
+ * @param node The FDT node
+ *
+ * @return Pointer to the timer. NULL on error (for example if node isn't
+ * compatible).
+ */
+TMR_Type *QTMR_get_regs_from_fdt(const void *fdt, int node);
+
+/*!
+ * @brief Return the timer IRQ vector based on a FDT node.
+ *
+ * @param fdt Pointer to the fdt
+ * @param node The FDT node
+ *
+ * @return IRQ vector number. BSP_INTERRUPT_VECTOR_INVALID on error.
+ */
+rtems_vector_number QTMR_get_IRQ_from_fdt(const void *fdt, int node);
+
+/*!
+ * @brief Return the clock source frequency of the quad timer.
+ *
+ * @param base Quad Timer peripheral base address.
+ *
+ * @return Clock frequency value in hertz.
+ */
+uint32_t QTMR_get_src_clk(TMR_Type *base);
+#endif /* __rtems__ */
+
+/*!
+ * @brief Ungates the Quad Timer clock and configures the peripheral for basic operation.
+ *
+ * @note This API should be called at the beginning of the application using the Quad Timer driver.
+ *
+ * @param base Quad Timer peripheral base address
+ * @param channel Quad Timer channel number
+ * @param config Pointer to user's Quad Timer config structure
+ */
+void QTMR_Init(TMR_Type *base, qtmr_channel_selection_t channel, const qtmr_config_t *config);
+
+/*!
+ * @brief Stops the counter and gates the Quad Timer clock
+ *
+ * @param base Quad Timer peripheral base address
+ * @param channel Quad Timer channel number
+ */
+void QTMR_Deinit(TMR_Type *base, qtmr_channel_selection_t channel);
+
+/*!
+ * @brief Fill in the Quad Timer config struct with the default settings
+ *
+ * The default values are:
+ * @code
+ * config->debugMode = kQTMR_RunNormalInDebug;
+ * config->enableExternalForce = false;
+ * config->enableMasterMode = false;
+ * config->faultFilterCount = 0;
+ * config->faultFilterPeriod = 0;
+ * config->primarySource = kQTMR_ClockDivide_2;
+ * config->secondarySource = kQTMR_Counter0InputPin;
+ * @endcode
+ * @param config Pointer to user's Quad Timer config structure.
+ */
+void QTMR_GetDefaultConfig(qtmr_config_t *config);
+
+/*! @}*/
+
+/*!
+ * @brief Sets up Quad timer module for PWM signal output.
+ *
+ * The function initializes the timer module according to the parameters passed in by the user. The
+ * function also sets up the value compare registers to match the PWM signal requirements.
+ *
+ * @param base Quad Timer peripheral base address
+ * @param channel Quad Timer channel number
+ * @param pwmFreqHz PWM signal frequency in Hz
+ * @param dutyCyclePercent PWM pulse width, value should be between 0 to 100
+ * 0=inactive signal(0% duty cycle)...
+ * 100=active signal (100% duty cycle)
+ * @param outputPolarity true: invert polarity of the output signal, false: no inversion
+ * @param srcClock_Hz Main counter clock in Hz.
+ *
+ * @return Returns an error if there was error setting up the signal.
+ */
+status_t QTMR_SetupPwm(TMR_Type *base,
+ qtmr_channel_selection_t channel,
+ uint32_t pwmFreqHz,
+ uint8_t dutyCyclePercent,
+ bool outputPolarity,
+ uint32_t srcClock_Hz);
+
+/*!
+ * @brief Allows the user to count the source clock cycles until a capture event arrives.
+ *
+ * The count is stored in the capture register.
+ *
+ * @param base Quad Timer peripheral base address
+ * @param channel Quad Timer channel number
+ * @param capturePin Pin through which we receive the input signal to trigger the capture
+ * @param inputPolarity true: invert polarity of the input signal, false: no inversion
+ * @param reloadOnCapture true: reload the counter when an input capture occurs, false: no reload
+ * @param captureMode Specifies which edge of the input signal triggers a capture
+ */
+void QTMR_SetupInputCapture(TMR_Type *base,
+ qtmr_channel_selection_t channel,
+ qtmr_input_source_t capturePin,
+ bool inputPolarity,
+ bool reloadOnCapture,
+ qtmr_input_capture_edge_t captureMode);
+
+/*!
+ * @name Interrupt Interface
+ * @{
+ */
+
+/*!
+ * @brief Enables the selected Quad Timer interrupts
+ *
+ * @param base Quad Timer peripheral base address
+ * @param channel Quad Timer channel number
+ * @param mask The interrupts to enable. This is a logical OR of members of the
+ * enumeration ::qtmr_interrupt_enable_t
+ */
+void QTMR_EnableInterrupts(TMR_Type *base, qtmr_channel_selection_t channel, uint32_t mask);
+
+/*!
+ * @brief Disables the selected Quad Timer interrupts
+ *
+ * @param base Quad Timer peripheral base addres
+ * @param channel Quad Timer channel number
+ * @param mask The interrupts to enable. This is a logical OR of members of the
+ * enumeration ::qtmr_interrupt_enable_t
+ */
+void QTMR_DisableInterrupts(TMR_Type *base, qtmr_channel_selection_t channel, uint32_t mask);
+
+/*!
+ * @brief Gets the enabled Quad Timer interrupts
+ *
+ * @param base Quad Timer peripheral base address
+ * @param channel Quad Timer channel number
+ *
+ * @return The enabled interrupts. This is the logical OR of members of the
+ * enumeration ::qtmr_interrupt_enable_t
+ */
+uint32_t QTMR_GetEnabledInterrupts(TMR_Type *base, qtmr_channel_selection_t channel);
+
+/*! @}*/
+
+/*!
+ * @name Status Interface
+ * @{
+ */
+
+/*!
+ * @brief Gets the Quad Timer status flags
+ *
+ * @param base Quad Timer peripheral base address
+ * @param channel Quad Timer channel number
+ *
+ * @return The status flags. This is the logical OR of members of the
+ * enumeration ::qtmr_status_flags_t
+ */
+uint32_t QTMR_GetStatus(TMR_Type *base, qtmr_channel_selection_t channel);
+
+/*!
+ * @brief Clears the Quad Timer status flags.
+ *
+ * @param base Quad Timer peripheral base address
+ * @param channel Quad Timer channel number
+ * @param mask The status flags to clear. This is a logical OR of members of the
+ * enumeration ::qtmr_status_flags_t
+ */
+void QTMR_ClearStatusFlags(TMR_Type *base, qtmr_channel_selection_t channel, uint32_t mask);
+
+/*! @}*/
+
+/*!
+ * @name Read and Write the timer period
+ * @{
+ */
+
+/*!
+ * @brief Sets the timer period in ticks.
+ *
+ * Timers counts from initial value till it equals the count value set here. The counter
+ * will then reinitialize to the value specified in the Load register.
+ *
+ * @note
+ * 1. This function will write the time period in ticks to COMP1 or COMP2 register
+ * depending on the count direction
+ * 2. User can call the utility macros provided in fsl_common.h to convert to ticks
+ * 3. This function supports cases, providing only primary source clock without secondary source clock.
+ *
+ * @param base Quad Timer peripheral base address
+ * @param channel Quad Timer channel number
+ * @param ticks Timer period in units of ticks
+ */
+void QTMR_SetTimerPeriod(TMR_Type *base, qtmr_channel_selection_t channel, uint16_t ticks);
+
+/*!
+ * @brief Set compare value.
+ *
+ * This function sets the value used for comparison with the counter value.
+ *
+ * @param base Quad Timer peripheral base address
+ * @param channel Quad Timer channel number
+ * @param ticks Timer period in units of ticks.
+ */
+void QTMR_SetCompareValue(TMR_Type *base, qtmr_channel_selection_t channel, uint16_t ticks);
+
+/*!
+ * @brief Set load value.
+ *
+ * This function sets the value used to initialize the counter after a counter comparison.
+ *
+ * @param base Quad Timer peripheral base address
+ * @param channel Quad Timer channel number
+ * @param value Load register initialization value.
+ */
+static inline void QTMR_SetLoadValue(TMR_Type *base, qtmr_channel_selection_t channel, uint16_t value)
+{
+ base->CHANNEL[channel].LOAD &= (uint16_t)(~TMR_LOAD_LOAD_MASK);
+ base->CHANNEL[channel].LOAD = value;
+}
+
+/*!
+ * @brief Reads the current timer counting value.
+ *
+ * This function returns the real-time timer counting value, in a range from 0 to a
+ * timer period.
+ *
+ * @note User can call the utility macros provided in fsl_common.h to convert ticks to usec or msec
+ *
+ * @param base Quad Timer peripheral base address
+ * @param channel Quad Timer channel number
+ *
+ * @return Current counter value in ticks
+ */
+static inline uint16_t QTMR_GetCurrentTimerCount(TMR_Type *base, qtmr_channel_selection_t channel)
+{
+ return base->CHANNEL[channel].CNTR;
+}
+
+/*! @}*/
+
+/*!
+ * @name Timer Start and Stop
+ * @{
+ */
+
+/*!
+ * @brief Starts the Quad Timer counter.
+ *
+ *
+ * @param base Quad Timer peripheral base address
+ * @param channel Quad Timer channel number
+ * @param clockSource Quad Timer clock source
+ */
+static inline void QTMR_StartTimer(TMR_Type *base, qtmr_channel_selection_t channel, qtmr_counting_mode_t clockSource)
+{
+ uint16_t reg = base->CHANNEL[channel].CTRL;
+
+ reg &= (uint16_t)(~(TMR_CTRL_CM_MASK));
+ reg |= TMR_CTRL_CM(clockSource);
+ base->CHANNEL[channel].CTRL = reg;
+}
+
+/*!
+ * @brief Stops the Quad Timer counter.
+ *
+ * @param base Quad Timer peripheral base address
+ * @param channel Quad Timer channel number
+ */
+static inline void QTMR_StopTimer(TMR_Type *base, qtmr_channel_selection_t channel)
+{
+ base->CHANNEL[channel].CTRL &= (uint16_t)(~TMR_CTRL_CM_MASK);
+}
+
+/*! @}*/
+
+/*!
+ * @name Enable and Disable the Quad Timer DMA
+ * @{
+ */
+
+/*!
+ * @brief Enable the Quad Timer DMA.
+ *
+ * @param base Quad Timer peripheral base address
+ * @param channel Quad Timer channel number
+ * @param mask The DMA to enable. This is a logical OR of members of the
+ * enumeration ::qtmr_dma_enable_t
+ */
+void QTMR_EnableDma(TMR_Type *base, qtmr_channel_selection_t channel, uint32_t mask);
+
+/*!
+ * @brief Disable the Quad Timer DMA.
+ *
+ * @param base Quad Timer peripheral base address
+ * @param channel Quad Timer channel number
+ * @param mask The DMA to enable. This is a logical OR of members of the
+ * enumeration ::qtmr_dma_enable_t
+ */
+void QTMR_DisableDma(TMR_Type *base, qtmr_channel_selection_t channel, uint32_t mask);
+
+/*!
+ * @brief Set PWM output in idle status (high or low).
+ *
+ * @note When the PWM is set again, the counting needs to be restarted.
+ *
+ * @param base Quad Timer peripheral base address
+ * @param channel Quad Timer channel number
+ * @param idleStatus True: PWM output is high in idle status; false: PWM output is low in idle status.
+ */
+void QTMR_SetPwmOutputToIdle(TMR_Type *base, qtmr_channel_selection_t channel, bool idleStatus);
+
+/*!
+ * @brief Get the channel output status
+ *
+ * @param base Quad Timer peripheral base address
+ * @param channel Quad Timer channel number
+ *
+ * @return Current channel output status.
+ */
+static inline qtmr_pwm_out_state_t QTMR_GetPwmOutputStatus(TMR_Type *base, qtmr_channel_selection_t channel)
+{
+ if (0U != ((base->CHANNEL[channel].CSCTRL) & TMR_CSCTRL_OFLAG_MASK))
+ {
+ return kQTMR_PwmHigh;
+ }
+ else
+ {
+ return kQTMR_PwmLow;
+ }
+}
+
+/*!
+ * @brief Get the PWM channel dutycycle value.
+ *
+ * @param base Quad Timer peripheral base address
+ * @param channel Quad Timer channel number
+ *
+ * @return Current channel dutycycle value.
+ */
+uint8_t QTMR_GetPwmChannelStatus(TMR_Type *base, qtmr_channel_selection_t channel);
+
+/*!
+ * @brief This function set the value of the prescaler on QTimer channels.
+ *
+ * @param base Quad Timer peripheral base address
+ * @param channel Quad Timer channel number
+ * @param prescaler Set prescaler value
+ */
+void QTMR_SetPwmClockMode(TMR_Type *base, qtmr_channel_selection_t channel, qtmr_primary_count_source_t prescaler);
+
+/*! @}*/
+
+#if defined(__cplusplus)
+}
+#endif
+
+/*! @}*/
+
+#endif /* _FSL_QTMR_H_ */