gemstonedevteam opened a new pull request, #20116:
URL: https://github.com/apache/nuttx/pull/20116
### Summary
* Adds the AM67 GPIO lower half and a polled MCU_MCSPI0 master driver, with
the pad configuration both need.
* The driver matches the **K3** MCSPI instance rather than the OMAP2
layout:
the K3 peripheral prepends an HL header block, so functional registers
start
at `0x100` and the module base is `0x04b00000`.
* Chip selects are driven per channel by hardware through `CHCONF`
`FORCE`. On
deassert the driver waits for `CHSTAT.EOT` before clearing `FORCE`, so a
high SCLK cannot drop CS mid-word and truncate a write; `CHCTRL.EN` stays
asserted between transfers because toggling it re-initialises the shift
logic and drops the next transfer's first word.
* t3-gem-o1 maps its ICM-20948 (CS3) and LPS22DF (CS1) to `SPIDEV_USER(n)`
and registers `/dev/spi0`.
* Also raises `CONFIG_NSH_MAXARGUMENTS` to 16 in the board config: the
default
of 7 is fewer than the `spi` console tool needs to address a device, so
the
driver could not otherwise be exercised from the shell.
### Impact
* Is new feature added? **YES** — GPIO and SPI support for AM67.
* Impact on user? **NO** — new drivers, opt-in by Kconfig.
* Impact on build? **NO** — new files gated by new Kconfig options.
* Impact on hardware? **YES** — arch/arm/am67 and board t3-gem-o1.
* Impact on documentation? **YES** — provided in this PR (second commit).
* Impact on security? **NO**.
* Impact on compatibility? **NO** — additive.
* Anything else? Applies directly to master; no dependency on other PRs in
this series. First commit authored by halak0013.
### Testing
```
Build Host(s): Pardus GNU/Linux 25 (Debian 13 base), x86_64, host gcc 14
Toolchain: arm-none-eabi-gcc 14.2.1 20241119 (15:14.2.rel1-1)
Target: arm / TI AM67 (J722S) Cortex-R5F, board t3-gem-o1:nsh
nuttx-apps: 5a7ab4200
Loaded on the main-domain R5F by Linux remoteproc; console on UART-MAIN1.
```
Testing logs before change: no SPI support on this arch.
The version string in the logs is from the tested build; the commits were
GPG-signed afterwards, which rewrites hashes. The code is unchanged.
Testing logs after change:
```
make distclean && ./tools/configure.sh t3-gem-o1:nsh && make -j
-> nuttx ELF 522396 bytes, 0 compiler warnings
Console:
nsh> spi exch -b 0 -n 1 -m 3 -x 2 8f00
Sending: 8F 00
Received: 00 B4
nsh> spi exch -b 0 -n 3 -m 3 -x 2 8000
Sending: 80 00
Received: 00 EA
nsh>
nsh> spi exch -b 0 -n 1 -m 3 -x 2 8f00
Sending: 8F 00
Received: 00 B4
nsh> spi exch -b 0 -n 3 -m 3 -x 2 8000
Sending: 80 00
Received: 00 EA
nsh>
Test plan result:
console_alive PASS prompt responsive
version PASS NuttX version 0.0.0 833df5b463 Sep 10 2026
13:47:56 t3-gem-o1:nsh
procfs PASS procfs readable
tasks PASS 2 task lines
dev_nodes PASS all expected nodes present
spi_baro_whoami PASS LPS22DF WHO_AM_I 0xb4
spi_imu_whoami PASS ICM-20948 WHO_AM_I 0xea
PASS=7
spi exch -b 0 -n 3 -m 3 -x 2 8000 -> Received: 00 EA (ICM-20948)
spi exch -b 0 -n 1 -m 3 -x 2 8f00 -> Received: 00 B4 (LPS22DF)
```
```
ICM-20948 on CS3 -- wake, then three 6-byte bursts from ACCEL_XOUT_H:
nsh> spi exch -b 0 -n 3 -m 3 -x 2 0601 (PWR_MGMT_1 = 0x01, clear SLEEP)
nsh> spi exch -b 0 -n 3 -m 3 -x 2 8600 (read it back)
Received: 00 01
nsh> spi exch -b 0 -n 3 -m 3 -x 7 ad000000000000
Received: FF 02 AC FF F0 BD 94
nsh> spi exch -b 0 -n 3 -m 3 -x 7 ad000000000000
Received: 00 02 EC 00 40 BD 30
nsh> spi exch -b 0 -n 3 -m 3 -x 7 ad000000000000
Received: 00 02 88 00 08 BD 80
decoded at the default +/-2 g scale (16384 LSB/g), X/Y/Z big-endian int16:
+0.042 / -0.001 / -1.038 g |a| = 1.039 g
+0.046 / +0.004 / -1.044 g |a| = 1.045 g
+0.040 / +0.000 / -1.039 g |a| = 1.040 g
Gravity on Z, and the samples differ between reads -- live conversions, not
a latched constant.
LPS22DF on CS1 -- one-shot conversion, pressure and temperature:
nsh> spi exch -b 0 -n 1 -m 3 -x 2 1101 (CTRL_REG2 ONE_SHOT)
nsh> spi exch -b 0 -n 1 -m 3 -x 2 a700 (STATUS)
Received: 00 03 (P_DA | T_DA)
nsh> spi exch -b 0 -n 1 -m 3 -x 6 a80000000000
Received: 00 BF 42 3E 80 10 -> 996.17 hPa, 42.24 C
Received: 00 71 42 3E 80 10 -> 996.15 hPa, 42.24 C
pressure = int24(XL,L,H) / 4096 hPa, temperature = int16 / 100 C
```
### PR verification Self-Check
* [x] This PR introduces only one functional change.
* [x] I have updated all required description fields above.
* [x] My PR adheres to Contributing Guidelines and Documentation.
* [ ] My PR is still work in progress (not ready for review).
* [x] My PR is ready for review and can be safely merged into a codebase.
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