crazyflie: use hw description methods for timer configuration

boards/bitcraze/crazyflie/src/CMakeLists.txt

@@ -35,7 +35,7 @@ add_library(drivers_board
 	init.c
 	led.c
 	spi.c
-	timer_config.c
+	timer_config.cpp
 	usb.c
 )
 target_link_libraries(drivers_board

boards/bitcraze/crazyflie/src/board_config.h

@@ -161,29 +161,10 @@
 #define GPIO_TONE_ALARM_NEG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3)
 
 /* PWM
-*
-* Four PWM motor outputs are configured.
-*
-* Pins:
-*
-* CH1 : PA1  : TIM2_CH2
-* CH2 : PB11 : TIM2_CH4
-* CH3 : PA15 : TIM2_CH1
-* CH4 : PB9  : TIM4_CH4
 */
 
-#define GPIO_TIM2_CH2OUT	GPIO_TIM2_CH2OUT_1
-#define GPIO_TIM2_CH4OUT	GPIO_TIM2_CH4OUT_2
-#define GPIO_TIM2_CH1OUT	GPIO_TIM2_CH1OUT_2
-#define GPIO_TIM4_CH4OUT	GPIO_TIM4_CH4OUT_1
 #define DIRECT_PWM_OUTPUT_CHANNELS	4
 
-#define GPIO_TIM2_CH2IN		GPIO_TIM2_CH2IN_1
-#define GPIO_TIM2_CH4IN		GPIO_TIM2_CH4IN_2
-#define GPIO_TIM2_CH1IN		GPIO_TIM2_CH1IN_2
-#define GPIO_TIM4_CH4IN		GPIO_TIM4_CH4IN_1
-
-
 /* This board overrides the defaults by providing
  * PX4_PWM_ALTERNATE_RANGES and a replacement set of
  * constants

boards/bitcraze/crazyflie/src/timer_config.cpp

@@ -0,0 +1,63 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 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>
+
+/* IO Timers normally free-run at 1MHz
+ * Here we make adjustments to the Frequency that sets the timer's prescale
+ * so that the prescale is set to 0
+ */
+#define TIMx_CLKIN 1000000
+
+static inline constexpr io_timers_t initIOTimerOverrideClockFreq(Timer::Timer timer)
+{
+	io_timers_t ret = initIOTimer(timer);
+	ret.clock_freq = TIMx_CLKIN;
+	return ret;
+}
+
+__EXPORT constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimerOverrideClockFreq(Timer::Timer2),
+	initIOTimerOverrideClockFreq(Timer::Timer4),
+};
+
+// FIXME: this is incorrect, TIM2 channels are not all grouped together
+__EXPORT constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}),
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel1}, {GPIO::PortA, GPIO::Pin15}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortB, GPIO::Pin9}),
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortB, GPIO::Pin11}),
+};
+
+__EXPORT constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);