All 9 PWM outputs with DMA. Change HRT to timer 3 channel 1 to avoid …

…conflict with PWM timer 8

boards/ark/fpv/src/board_config.h

@@ -211,7 +211,7 @@
 
 /* PWM
  */
-#define DIRECT_PWM_OUTPUT_CHANNELS 8
+#define DIRECT_PWM_OUTPUT_CHANNELS 9
 
 #define GPIO_FMU_CH1 /* PI0 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
 #define GPIO_FMU_CH2 /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)
@@ -249,8 +249,8 @@
 #define FLASH_BASED_PARAMS
 
 /* High-resolution timer */
-#define HRT_TIMER 8 /* use timer8 for the HRT */
-#define HRT_TIMER_CHANNEL 3 /* use capture/compare channel 3 */
+#define HRT_TIMER 3 /* use timer3 for the HRT */
+#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */
 
 /* RC Serial port */
 

boards/ark/fpv/src/timer_config.cpp

@@ -40,39 +40,37 @@
  * TIM5_CH2 T FMU_CH3
  * TIM5_CH1 T FMU_CH4
  *
- * TIM4_CH2 T FMU_CH5
- * TIM4_CH3 T FMU_CH6
+ * TIM8_CH1 T FMU_CH5
+ * TIM8_CH2 T FMU_CH6
+ * TIM8_CH3 T FMU_CH7
+ * TIM8_CH4 T FMU_CH8
  *
- * TIM12_CH1 T FMU_CH7
- * TIM12_CH2 T FMU_CH8
+ * TIM4_CH1 T FMU_CH9
  *
- * TIM1_CH3 T SPI2_DRDY2_ISM330_INT2 < Capture or GPIO INT
  * TIM1_CH1 T SPIX_SYNC > Pulse or GPIO strobe
  *
  * TIM2_CH3 T HEATER > PWM OUT or GPIO
  *
- * TIM14_CH1 T BUZZER_1 - Driven by other driver
+ * TIM3_CH1 T HRT_TIMER
+ *
  */
 
 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
  initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
+ initIOTimer(Timer::Timer8, DMA{DMA::Index1}),
  initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
- initIOTimer(Timer::Timer12),
- //initIOTimer(Timer::Timer1),
- //initIOTimer(Timer::Timer2),
 };
 
 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
  initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel4}, {GPIO::PortI, GPIO::Pin0}),
  initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortH, GPIO::Pin12}),
  initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortH, GPIO::Pin11}),
  initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortH, GPIO::Pin10}),
- initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
- initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
- initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}),
- initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}),
- //initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
- //initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
+ initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel1}, {GPIO::PortI, GPIO::Pin5}),
+ initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel2}, {GPIO::PortI, GPIO::Pin6}),
+ initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel3}, {GPIO::PortI, GPIO::Pin7}),
+ initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel4}, {GPIO::PortI, GPIO::Pin2}),
+ initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel1}, {GPIO::PortD, GPIO::Pin12}),
 };
 
 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =