PX4 · davids5 · Feb 13, 2020 · Jan 13, 2020 · Jan 13, 2020 · Jan 3, 2020
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie b/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
@@ -17,7 +17,7 @@
 #
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER quad_x
+set MIXER quad_x_cw
 set PWM_OUT 1234
 if [ $AUTOCNF = yes ]
 then

diff --git a/ROMFS/px4fmu_common/mixers/CMakeLists.txt b/ROMFS/px4fmu_common/mixers/CMakeLists.txt
@@ -71,6 +71,7 @@ px4_add_romfs_files(
 	quad_+_vtol.main.mix
 	quad_w.main.mix
 	quad_x.main.mix
+	quad_x_cw.main.mix
 	quad_x_vtol.main.mix
 	stampede.main.mix
 	tri_y_yaw-.main.mix

diff --git a/ROMFS/px4fmu_common/mixers/quad_x_cw.main.mix b/ROMFS/px4fmu_common/mixers/quad_x_cw.main.mix
@@ -0,0 +1,5 @@
+# @board px4_fmu-v2 exclude
+# Quad X with clock-wise motor assigment
+
+R: 4xcw 10000 10000 10000 0
+
diff --git a/boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig b/boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig
@@ -191,9 +191,7 @@ CONFIG_STM32_SPI2=y
 CONFIG_STM32_SPI4=y
 CONFIG_STM32_TIM10=y
 CONFIG_STM32_TIM11=y
-CONFIG_STM32_TIM1=y
 CONFIG_STM32_TIM3=y
-CONFIG_STM32_TIM4=y
 CONFIG_STM32_TIM9=y
 CONFIG_STM32_UART4=y
 CONFIG_STM32_UART7=y

diff --git a/boards/airmind/mindpx-v2/src/CMakeLists.txt b/boards/airmind/mindpx-v2/src/CMakeLists.txt
@@ -36,7 +36,7 @@ add_library(drivers_board
 	init.c
 	led.c
 	spi.c
-	timer_config.c
+	timer_config.cpp
 	usb.c
 )
 

diff --git a/boards/airmind/mindpx-v2/src/board_config.h b/boards/airmind/mindpx-v2/src/board_config.h
@@ -190,63 +190,10 @@
 #define GPIO_TONE_ALARM		(GPIO_ALT|GPIO_AF9|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN7)
 
 /* AUX PWMs
- *
- * 8 PWM outputs are configured.
- *
- * Pins:
- *
- * CH1 : PE9  : TIM1_CH1
- * CH2 : PE11 : TIM1_CH2
- * CH3 : PE13 : TIM1_CH3
- * CH4 : PE14 : TIM1_CH4
- * CH5 : PD12 : TIM4_CH1
- * CH6 : PD13 : TIM4_CH2
- * CH7 : PD14 : TIM4_CH3
- * CH8 : PD15 : TIM4_CH4
  */
-#define GPIO_TIM1_CH1OUT	(GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN9)
-#define GPIO_TIM1_CH2OUT	(GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN11)
-#define GPIO_TIM1_CH3OUT	(GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN13)
-#define GPIO_TIM1_CH4OUT	(GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN14)
-#define GPIO_TIM4_CH1OUT	(GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN12)
-#define GPIO_TIM4_CH2OUT	(GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN13)
-#define GPIO_TIM4_CH3OUT	(GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN14)
-#define GPIO_TIM4_CH4OUT	(GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN15)
 #define DIRECT_PWM_OUTPUT_CHANNELS	8
-
-#define GPIO_TIM1_CH1IN		GPIO_TIM1_CH1IN_2
-#define GPIO_TIM1_CH2IN		GPIO_TIM1_CH2IN_2
-#define GPIO_TIM1_CH3IN		GPIO_TIM1_CH3IN_2
-#define GPIO_TIM1_CH4IN		GPIO_TIM1_CH4IN_2
-#define GPIO_TIM4_CH1IN		GPIO_TIM4_CH1IN_2
-#define GPIO_TIM4_CH2IN		GPIO_TIM4_CH2IN_2
-#define GPIO_TIM4_CH3IN		GPIO_TIM4_CH3IN_2
-#define GPIO_TIM4_CH4IN		GPIO_TIM4_CH4IN_2
-
 #define DIRECT_INPUT_TIMER_CHANNELS	8
 
-
-/* PWMs for main output */
-/* TODO: implement a new driver - /dev/pwm_output0 */
-#define GPIO_TIM2_CH1OUT	(GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
-#define GPIO_TIM2_CH2OUT	(GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN3)
-#define GPIO_TIM2_CH3OUT	(GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN2)
-#define GPIO_TIM2_CH4OUT	(GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN3)
-#define GPIO_TIM3_CH1OUT	(GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN4)
-#define GPIO_TIM3_CH2OUT	(GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN7)
-#define GPIO_TIM3_CH3OUT	(GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN0)
-#define GPIO_TIM3_CH4OUT	(GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN1)
-
-#define GPIO_TIM2_CH1IN		GPIO_TIM2_CH1IN_2
-#define GPIO_TIM2_CH2IN		GPIO_TIM2_CH2IN_2
-#define GPIO_TIM2_CH3IN		GPIO_TIM2_CH3IN_1
-#define GPIO_TIM2_CH4IN		GPIO_TIM2_CH4IN_1
-#define GPIO_TIM3_CH1IN		GPIO_TIM3_CH1IN_2
-#define GPIO_TIM3_CH2IN		GPIO_TIM3_CH2IN_3
-#define GPIO_TIM3_CH3IN		GPIO_TIM3_CH3IN_1
-#define GPIO_TIM3_CH4IN		GPIO_TIM3_CH4IN_1
-
-
 /* USB OTG FS
  *
  * PA9  OTG_FS_VBUS VBUS sensing
@@ -265,7 +212,7 @@
 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 1 */
 #define PWMIN_TIMER		4
 #define PWMIN_TIMER_CHANNEL	1
-#define GPIO_PWM_IN		GPIO_TIM4_CH1IN
+#define GPIO_PWM_IN		GPIO_TIM1_CH1IN_2
 
 #define RC_SERIAL_PORT		"/dev/ttyS0"
 

diff --git a/boards/airmind/mindpx-v2/src/init.c b/boards/airmind/mindpx-v2/src/init.c
@@ -73,6 +73,8 @@
 
 #include <px4_platform_common/init.h>
 #include <px4_platform/board_dma_alloc.h>
+#include <drivers/drv_pwm_output.h>
+#include <px4_arch/io_timer.h>
 
 /****************************************************************************
  * Pre-Processor Definitions
@@ -108,14 +110,9 @@ __END_DECLS
 __EXPORT void board_on_reset(int status)
 {
 	/* configure the GPIO pins to outputs and keep them low */
-	stm32_configgpio(GPIO_GPIO0_OUTPUT);
-	stm32_configgpio(GPIO_GPIO1_OUTPUT);
-	stm32_configgpio(GPIO_GPIO2_OUTPUT);
-	stm32_configgpio(GPIO_GPIO3_OUTPUT);
-	stm32_configgpio(GPIO_GPIO4_OUTPUT);
-	stm32_configgpio(GPIO_GPIO5_OUTPUT);
-	stm32_configgpio(GPIO_GPIO6_OUTPUT);
-	stm32_configgpio(GPIO_GPIO7_OUTPUT);
+	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
+		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
+	}
 
 	/**
 	 * On resets invoked from system (not boot) insure we establish a low

diff --git a/boards/airmind/mindpx-v2/src/timer_config.c b/boards/airmind/mindpx-v2/src/timer_config.c
diff --git a/boards/airmind/mindpx-v2/src/timer_config.cpp b/boards/airmind/mindpx-v2/src/timer_config.cpp
@@ -0,0 +1,54 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015, 2016 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.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/io_timer_hw_description.h>
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer1),
+	initIOTimer(Timer::Timer4),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel1}, {GPIO::PortD, GPIO::Pin12}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
+	initIOTimerChannelOutputClear(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);
+
diff --git a/boards/av/x-v1/nuttx-config/nsh/defconfig b/boards/av/x-v1/nuttx-config/nsh/defconfig
@@ -213,12 +213,8 @@ CONFIG_STM32F7_SPI1=y
 CONFIG_STM32F7_SPI2=y
 CONFIG_STM32F7_SPI4=y
 CONFIG_STM32F7_SPI5=y
-CONFIG_STM32F7_TIM10=y
-CONFIG_STM32F7_TIM11=y
 CONFIG_STM32F7_TIM14=y
-CONFIG_STM32F7_TIM1=y
 CONFIG_STM32F7_TIM3=y
-CONFIG_STM32F7_TIM4=y
 CONFIG_STM32F7_UART4=y
 CONFIG_STM32F7_UART5=y
 CONFIG_STM32F7_UART7=y

diff --git a/boards/av/x-v1/src/CMakeLists.txt b/boards/av/x-v1/src/CMakeLists.txt
@@ -35,7 +35,7 @@ add_library(drivers_board
 	init.c
 	sdio.c
 	spi.cpp
-	timer_config.c
+	timer_config.cpp
 )
 
 target_link_libraries(drivers_board