From 3246a3b723e27a7595ea7780049332eac4a82954 Mon Sep 17 00:00:00 2001
From: Peter van der Perk <peter.vanderperk@nxp.com>
Date: Fri, 21 Jul 2023 17:48:14 -0400
Subject: [PATCH] vmurt7: enable qdec and change prescaler for rohm esc

Don't print gnss timeout

Signed-off-by: Peter van der Perk <peter.vanderperk@nxp.com>
---
 app/mrbuggy3/boards/mimxrt1170_fmurt7.overlay | 42 ++++++++++++++++---
 drivers/sense/ubx_gnss/main.c                 |  2 +-
 2 files changed, 38 insertions(+), 6 deletions(-)

diff --git a/app/mrbuggy3/boards/mimxrt1170_fmurt7.overlay b/app/mrbuggy3/boards/mimxrt1170_fmurt7.overlay
index 7fb0dcbd..7eb448a1 100644
--- a/app/mrbuggy3/boards/mimxrt1170_fmurt7.overlay
+++ b/app/mrbuggy3/boards/mimxrt1170_fmurt7.overlay
@@ -9,10 +9,10 @@
 			pwms = <&flexpwm1_pwm0 0 PWM_HZ(50) PWM_POLARITY_NORMAL>;
 		};
 		aux1: aux1 {
-			pwms = <&flexpwm1_pwm1 0 PWM_HZ(50) PWM_POLARITY_NORMAL>;
+			pwms = <&flexpwm1_pwm1 0 PWM_HZ(18000) PWM_POLARITY_NORMAL>;
 		};
 		aux2: aux2 {
-			pwms = <&flexpwm1_pwm2 0 PWM_HZ(50) PWM_POLARITY_NORMAL>;
+			pwms = <&flexpwm1_pwm2 0 PWM_HZ(18000) PWM_POLARITY_NORMAL>;
 		};
 		aux3: aux3 {
 			pwms = <&flexpwm2_pwm0 0 PWM_HZ(50) PWM_POLARITY_NORMAL>;
@@ -39,7 +39,7 @@
 		can0 = &flexcan1;
 		can1 = &flexcan2;
 		can2 = &flexcan3;
-		telem1 = &lpuart4;
+		telem1 = &lpuart8; /* Use telem2 as telem1 */
 	};
 };
 
@@ -48,11 +48,11 @@
 };
 
 &flexpwm1_pwm1 {
-	nxp,prescaler = <64>;
+	nxp,prescaler = <32>;
 };
 
 &flexpwm1_pwm2 {
-	nxp,prescaler = <64>;
+	nxp,prescaler = <32>;
 };
 
 &flexpwm2_pwm0 {
@@ -121,3 +121,35 @@ uart1: &lpuart5 {
        status = "okay";
        current-speed = <38400>;
 };
+
+/* QDEC conflicts with the CTS/RTS from LPUART4/TELEM1 */
+lpuart4: &lpuart4 {
+       status = "disabled";
+};
+
+&pinctrl {
+
+	pinmux_qdec1: pinmux_qdec1 {
+		group0 {
+			pinmux = <&iomuxc_gpio_disp_b1_07_xbar1_xbar_in33>,
+				<&iomuxc_gpio_disp_b1_05_xbar1_xbar_in31>;
+			drive-strength = "normal";
+			slew-rate = "slow";
+		};
+	};
+};
+
+&qdec1 {
+	status = "okay";
+	pinctrl-0 = <&pinmux_qdec1>;
+	pinctrl-names = "default";
+	counts-per-revolution = <600>;
+	filter-count = <0>;
+	xbar = < &xbar1 >;
+};
+
+&xbar1 {
+	status = "okay";
+	xbar-maps = < (33|0x100) (109|0x100) >, /* kXBARA1_InputIomuxXbarIn33 <-> kXBARA1_OutputDec1Phasea */
+		    < (31|0x100) (108|0x100) >; /* kXBARA1_InputIomuxXbarIn31 <-> kXBARA1_OutputDec1Phaseb */
+};
diff --git a/drivers/sense/ubx_gnss/main.c b/drivers/sense/ubx_gnss/main.c
index 6a06bcb0..4b000dd7 100644
--- a/drivers/sense/ubx_gnss/main.c
+++ b/drivers/sense/ubx_gnss/main.c
@@ -46,7 +46,7 @@ void publish_gnss_data_zbus(uDeviceHandle_t devHandle,
         zbus_chan_pub(&chan_out_nav_sat_fix, &nav_sat_fix, K_NO_WAIT);
         printf("lat %f long %f\n", nav_sat_fix.latitude, nav_sat_fix.longitude);
     } else if (errorCode == U_ERROR_COMMON_TIMEOUT) {
-        LOG_ERR("Tiemout error");
+        //LOG_ERR("Tiemout error");
     } else {
         LOG_ERR("GNSS error %i", errorCode);
         running = false;