io pins: avoid using GPIO_GPIOx_OUTPUT, use timer_io_channels instead

The whole system now uses timer_io_channels, which will allow the redundant
GPIO_GPIOx_OUTPUT definitions to be removed.

platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/io_timer.h

@@ -137,5 +137,17 @@ __EXPORT int io_timer_free_channel(unsigned channel);
 __EXPORT int io_timer_get_channel_mode(unsigned channel);
 __EXPORT int io_timer_get_mode_channels(io_timer_channel_mode_t mode);
 __EXPORT extern void io_timer_trigger(void);
+/**
+ * Returns the pin configuration for a specific channel, to be used as GPIO output.
+ * 0 is returned if the channel is not valid.
+ */
+__EXPORT uint32_t io_timer_channel_get_gpio_output(unsigned channel);
+/**
+ * Returns the pin configuration for a specific channel, to be used as PWM input.
+ * 0 is returned if the channel is not valid.
+ */
+__EXPORT uint32_t io_timer_channel_get_as_pwm_input(unsigned channel);
+
 
 __END_DECLS
+

platforms/nuttx/src/px4/nxp/kinetis/io_pins/io_timer.c

@@ -31,8 +31,8 @@
  *
  ****************************************************************************/
 
-/*
+/**
- * @file drv_io_timer.c
+ * @file io_timer.c
  *
  * Servo driver supporting PWM servos connected to Kinetis FTM timer blocks.
  */
@@ -362,6 +362,25 @@ int io_timer_validate_channel_index(unsigned channel)
 	return rv;
 }
 
+uint32_t io_timer_channel_get_gpio_output(unsigned channel)
+{
+	if (io_timer_validate_channel_index(channel) != 0) {
+		return 0;
+	}
+
+	return (timer_io_channels[channel].gpio_out & ~(_PIN_MODE_MASK | _PIN_OPTIONS_MASK)) | GPIO_HIGHDRIVE;
+}
+
+uint32_t io_timer_channel_get_as_pwm_input(unsigned channel)
+{
+	if (io_timer_validate_channel_index(channel) != 0) {
+		return 0;
+	}
+
+	return timer_io_channels[channel].gpio_in;
+}
+
+
 int io_timer_get_mode_channels(io_timer_channel_mode_t mode)
 {
 	if (mode < IOTimerChanModeSize) {

platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/io_timer.h

@@ -149,4 +149,15 @@ __EXPORT void io_timer_update_dma_req(uint8_t timer, bool enable);
 
 __EXPORT extern int io_timer_set_dshot_mode(uint8_t timer, unsigned dshot_pwm_rate, uint8_t dma_burst_length);
 
+/**
+ * Returns the pin configuration for a specific channel, to be used as GPIO output.
+ * 0 is returned if the channel is not valid.
+ */
+__EXPORT uint32_t io_timer_channel_get_gpio_output(unsigned channel);
+/**
+ * Returns the pin configuration for a specific channel, to be used as PWM input.
+ * 0 is returned if the channel is not valid.
+ */
+__EXPORT uint32_t io_timer_channel_get_as_pwm_input(unsigned channel);
+
 __END_DECLS

platforms/nuttx/src/px4/stm/stm32_common/io_pins/io_timer.c

@@ -31,8 +31,10 @@
  *
  ****************************************************************************/
 
-/*
+/**
- * @file drv_io_timer.c
+ * @file io_timer.c
+ *
+ * Servo driver supporting PWM servos connected to STM32 timer blocks.
  */
 
 #include <px4_platform_common/px4_config.h>
@@ -370,6 +372,30 @@ int io_timer_validate_channel_index(unsigned channel)
 	return rv;
 }
 
+uint32_t io_timer_channel_get_gpio_output(unsigned channel)
+{
+	if (io_timer_validate_channel_index(channel) != 0) {
+		return 0;
+	}
+
+#ifdef CONFIG_STM32_STM32F10XX
+	return (timer_io_channels[channel].gpio_out & (GPIO_PORT_MASK | GPIO_PIN_MASK)) |
+	       (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | GPIO_OUTPUT_CLEAR);
+#else
+	return (timer_io_channels[channel].gpio_out & (GPIO_PORT_MASK | GPIO_PIN_MASK)) |
+	       (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | GPIO_OUTPUT_CLEAR);
+#endif
+}
+
+uint32_t io_timer_channel_get_as_pwm_input(unsigned channel)
+{
+	if (io_timer_validate_channel_index(channel) != 0) {
+		return 0;
+	}
+
+	return timer_io_channels[channel].gpio_in;
+}
+
 int io_timer_get_mode_channels(io_timer_channel_mode_t mode)
 {
 	if (mode < IOTimerChanModeSize) {

src/drivers/camera_trigger/interfaces/src/gpio.cpp

@@ -2,13 +2,12 @@
 
 #include "gpio.h"
 #include <cstring>
-
+#include <px4_arch/io_timer.h>
-constexpr uint32_t CameraInterfaceGPIO::_gpios[ngpios];
 
 CameraInterfaceGPIO::CameraInterfaceGPIO():
 	CameraInterface(),
 	_trigger_invert(false),
-	_triggers{0}
+	_triggers{}
 {
 	_p_polarity = param_find("TRIG_POLARITY");
 
@@ -25,10 +24,9 @@ void CameraInterfaceGPIO::setup()
 {
 	for (unsigned i = 0, t = 0; i < arraySize(_pins); i++) {
 
-		// Pin range is from 1 to 5 or 6, indexes are 0 to 4 or 5
+		// Pin range is from 0 to num_gpios - 1
-
+		if (_pins[i] >= 0 && t < (int)arraySize(_triggers) && _pins[i] < num_gpios) {
-		if (_pins[i] >= 0 && _pins[i] < (int)arraySize(_gpios)) {
+			uint32_t gpio = io_timer_channel_get_gpio_output(_pins[i]);
-			uint32_t gpio = _gpios[_pins[i]];
 			_triggers[t++] = gpio;
 			px4_arch_configgpio(gpio);
 			px4_arch_gpiowrite(gpio, false ^ _trigger_invert);
@@ -50,17 +48,13 @@ void CameraInterfaceGPIO::trigger(bool trigger_on_true)
 
 void CameraInterfaceGPIO::info()
 {
-	if (ngpios == 6) {
+	PX4_INFO_RAW("GPIO trigger mode, pins enabled: ");
-		PX4_INFO("GPIO trigger mode, pins enabled : [%d][%d][%d][%d][%d][%d], polarity : %s",
+
-			 _pins[5], _pins[4], _pins[3], _pins[2], _pins[1], _pins[0],
+	for (unsigned i = 0; i < arraySize(_pins); ++i) {
-			 _trigger_invert ? "ACTIVE_LOW" : "ACTIVE_HIGH");
+		PX4_INFO_RAW("[%d]", _pins[i]);
 	}
 
-	if (ngpios == 5) {
+	PX4_INFO_RAW(", polarity : %s\n", _trigger_invert ? "ACTIVE_LOW" : "ACTIVE_HIGH");
-		PX4_INFO("GPIO trigger mode, pins enabled : [%d][%d][%d][%d][%d], polarity : %s",
-			 _pins[4], _pins[3], _pins[2], _pins[1], _pins[0],
-			 _trigger_invert ? "ACTIVE_LOW" : "ACTIVE_HIGH");
-	}
 }
 
 #endif /* ifdef __PX4_NUTTX */

src/drivers/camera_trigger/interfaces/src/gpio.h

@@ -21,13 +21,9 @@ public:
 	void trigger(bool trigger_on_true);
 
 	void info();
-#if defined(GPIO_GPIO5_OUTPUT)
-	static const int ngpios = 6;
-#else
-	static const int ngpios = 5;
-#endif
 
 private:
+	static const int num_gpios = DIRECT_PWM_OUTPUT_CHANNELS > 6 ? 6 : DIRECT_PWM_OUTPUT_CHANNELS;
 
 	void setup();
 
@@ -35,18 +31,7 @@ private:
 
 	bool _trigger_invert;
 
-	static constexpr uint32_t _gpios[ngpios] = {
+	uint32_t _triggers[num_gpios];
-		GPIO_GPIO0_OUTPUT,
-		GPIO_GPIO1_OUTPUT,
-		GPIO_GPIO2_OUTPUT,
-		GPIO_GPIO3_OUTPUT,
-		GPIO_GPIO4_OUTPUT,
-#if defined(GPIO_GPIO5_OUTPUT)
-		GPIO_GPIO5_OUTPUT
-#endif
-	};
-
-	uint32_t _triggers[arraySize(_gpios)];
 };
 
 #endif /* ifdef __PX4_NUTTX */

src/drivers/distance_sensor/ll40ls/LidarLitePWM.cpp

@@ -46,11 +46,13 @@
 
 #ifdef LIDAR_LITE_PWM_SUPPORTED
 
+#include <px4_arch/io_timer.h>
+
 LidarLitePWM::LidarLitePWM(const uint8_t rotation) :
 	LidarLite(rotation),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
 {
-	px4_arch_configgpio(GPIO_VDD_RANGEFINDER_EN);
+	px4_arch_configgpio(io_timer_channel_get_gpio_output(GPIO_VDD_RANGEFINDER_EN_CHAN));
 }
 
 LidarLitePWM::~LidarLitePWM()
@@ -128,4 +130,4 @@ LidarLitePWM::collect()
 	return EAGAIN;
 }
 
-#endif
+#endif

src/drivers/distance_sensor/ll40ls/LidarLitePWM.h

@@ -49,11 +49,11 @@
 
 #include <uORB/topics/pwm_input.h>
 #include <uORB/Subscription.hpp>
+#include <board_config.h>
 
-#ifdef GPIO_GPIO5_OUTPUT
+#if DIRECT_PWM_OUTPUT_CHANNELS >= 6
-
+#define GPIO_VDD_RANGEFINDER_EN_CHAN 5 // use pin 6
 #define LIDAR_LITE_PWM_SUPPORTED
-#define GPIO_VDD_RANGEFINDER_EN GPIO_GPIO5_OUTPUT
 
 class LidarLitePWM : public LidarLite, public px4::ScheduledWorkItem
 {