boards/fmu-v5x: allocating PPS pin

- start pps_capture before pwm_out

ROMFS/px4fmu_common/init.d/rcS

@@ -477,6 +477,9 @@ else
 		rc_input start $RC_INPUT_ARGS
 	fi
 
+	# PPS capture driver (before pwm_out)
+	pps_capture start
+
 	# Camera capture driver (before pwm_out)
 	if param greater -s CAM_CAP_FBACK 0
 	then

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

@@ -62,7 +62,8 @@ typedef enum io_timer_channel_mode_t {
 	IOTimerChanMode_Trigger = 5,
 	IOTimerChanMode_Dshot   = 6,
 	IOTimerChanMode_LED     = 7,
-	IOTimerChanMode_Other   = 8,
+	IOTimerChanMode_PPS     = 8,
+	IOTimerChanMode_Other   = 9,
 	IOTimerChanModeSize
 } io_timer_channel_mode_t;
 

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

@@ -149,8 +149,8 @@ static int io_timer_handler7(int irq, void *context, void *arg);
 #define rFCTRL20(_tim)         REG(_tim,  0, IMXRT_FLEXPWM_FCTRL20_OFFSET)       /* Fault Control 2 Register */
 
 
-//												 				  NotUsed   PWMOut  PWMIn Capture OneShot Trigger Dshot LED Other
-io_timer_channel_allocation_t channel_allocations[IOTimerChanModeSize] = { UINT16_MAX,   0,  0,  0, 0, 0, 0, 0, 0 };
+//												 				  NotUsed   PWMOut  PWMIn Capture OneShot Trigger Dshot LED PPS Other
+io_timer_channel_allocation_t channel_allocations[IOTimerChanModeSize] = { UINT16_MAX,   0,  0,  0, 0, 0, 0, 0, 0, 0 };
 
 typedef uint8_t io_timer_allocation_t; /* big enough to hold MAX_IO_TIMERS */
 

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

@@ -66,7 +66,8 @@ typedef enum io_timer_channel_mode_t {
 	IOTimerChanMode_Trigger = 5,
 	IOTimerChanMode_Dshot   = 6,
 	IOTimerChanMode_LED     = 7,
-	IOTimerChanMode_Other   = 8,
+	IOTimerChanMode_PPS     = 8,
+	IOTimerChanMode_Other   = 9,
 	IOTimerChanModeSize
 } io_timer_channel_mode_t;
 

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

@@ -152,8 +152,8 @@ static int io_timer_handler7(int irq, void *context, void *arg);
 
 #define CnSC_PWMIN_INIT 0 // TBD
 
-//												 				  NotUsed   PWMOut  PWMIn Capture OneShot Trigger Dshot LED Other
-io_timer_channel_allocation_t channel_allocations[IOTimerChanModeSize] = { UINT16_MAX,   0,  0,  0, 0, 0, 0, 0, 0 };
+//												 				  NotUsed   PWMOut  PWMIn Capture OneShot Trigger Dshot LED PPS Other
+io_timer_channel_allocation_t channel_allocations[IOTimerChanModeSize] = { UINT16_MAX,   0,  0,  0, 0, 0, 0, 0, 0, 0 };
 
 typedef uint8_t io_timer_allocation_t; /* big enough to hold MAX_IO_TIMERS */
 

platforms/nuttx/src/px4/nxp/s32k1xx/include/px4_arch/io_timer.h

@@ -62,7 +62,8 @@ typedef enum io_timer_channel_mode_t {
 	IOTimerChanMode_Trigger = 5,
 	IOTimerChanMode_Dshot   = 6,
 	IOTimerChanMode_LED     = 7,
-	IOTimerChanMode_Other   = 8,
+	IOTimerChanMode_PPS     = 8,
+	IOTimerChanMode_Other   = 9,
 	IOTimerChanModeSize
 } io_timer_channel_mode_t;
 

platforms/nuttx/src/px4/nxp/s32k1xx/io_pins/io_timer.c

@@ -150,8 +150,8 @@ static int io_timer_handler7(int irq, void *context, void *arg);
 
 #define CnSC_PWMIN_INIT 0 // TBD
 
-//												 				  NotUsed   PWMOut  PWMIn Capture OneShot Trigger Dshot LED Other
-io_timer_channel_allocation_t channel_allocations[IOTimerChanModeSize] = { UINT16_MAX,   0,  0,  0, 0, 0, 0, 0, 0 };
+//												 				  NotUsed   PWMOut  PWMIn Capture OneShot Trigger Dshot LED PPS Other
+io_timer_channel_allocation_t channel_allocations[IOTimerChanModeSize] = { UINT16_MAX,   0,  0,  0, 0, 0, 0, 0, 0, 0 };
 
 typedef uint8_t io_timer_allocation_t; /* big enough to hold MAX_IO_TIMERS */
 

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

@@ -75,7 +75,8 @@ typedef enum io_timer_channel_mode_t {
 	IOTimerChanMode_Trigger = 5,
 	IOTimerChanMode_Dshot   = 6,
 	IOTimerChanMode_LED     = 7,
-	IOTimerChanMode_Other   = 8,
+	IOTimerChanMode_PPS     = 8,
+	IOTimerChanMode_Other   = 9,
 	IOTimerChanModeSize
 } io_timer_channel_mode_t;
 

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

@@ -149,8 +149,8 @@ static int io_timer_handler7(int irq, void *context, void *arg);
 /* The transfer is done to 4 registers starting from TIMx_CR1 + TIMx_DCR.DBA  */
 #define TIM_DMABURSTLENGTH_4TRANSFERS	0x00000300U
 
-//												 				  NotUsed   PWMOut  PWMIn Capture OneShot Trigger Dshot LED Other
-io_timer_channel_allocation_t channel_allocations[IOTimerChanModeSize] = { UINT16_MAX,   0,  0,  0, 0, 0, 0, 0, 0 };
+//												 				  NotUsed   PWMOut  PWMIn Capture OneShot Trigger Dshot LED PPS Other
+io_timer_channel_allocation_t channel_allocations[IOTimerChanModeSize] = { UINT16_MAX,   0,  0,  0, 0, 0, 0, 0, 0, 0 };
 
 typedef uint8_t io_timer_allocation_t; /* big enough to hold MAX_IO_TIMERS */
 

src/drivers/pps_capture/PPSCapture.cpp

@@ -40,6 +40,7 @@
 
 #include "PPSCapture.hpp"
 #include "board_config.h"
+#include <px4_arch/io_timer.h>
 
 PPSCapture::PPSCapture() :
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
@@ -48,19 +49,36 @@ PPSCapture::PPSCapture() :
 
 PPSCapture::~PPSCapture()
 {
-	px4_arch_gpiosetevent(BOARD_CAPTURE_GPIO, false, false, false, nullptr, nullptr);
+#if defined(PPS_CAPTURE_CHANNEL)
+	io_timer_unallocate_channel(PPS_CAPTURE_CHANNEL);
+	px4_arch_gpiosetevent(_pps_capture_gpio, false, false, false, nullptr, nullptr);
+#endif
 }
 
 bool PPSCapture::init()
 {
 	bool success = false;
 
-	int ret_val = px4_arch_gpiosetevent(BOARD_CAPTURE_GPIO, true, false, true, &PPSCapture::gpio_interrupt_callback, this);
+#if defined(PPS_CAPTURE_CHANNEL)
+
+	int ret = io_timer_allocate_channel(PPS_CAPTURE_CHANNEL, IOTimerChanMode_PPS);
+
+	if (ret != PX4_OK) {
+		PX4_ERR("gpio alloc failed (%i) for PPS at channel (%d)", ret, PPS_CAPTURE_CHANNEL);
+		return false;
+	}
+
+	_pps_capture_gpio = PX4_MAKE_GPIO_EXTI(io_timer_channel_get_as_pwm_input(PPS_CAPTURE_CHANNEL));
+	int ret_val = px4_arch_gpiosetevent(_pps_capture_gpio, true, false, true, &PPSCapture::gpio_interrupt_callback, this);
 
 	if (ret_val == PX4_OK) {
 		success = true;
 	}
 
+#else
+#error Driver requires PPS_CAPTURE_CHANNEL to be enabled
+#endif
+
 	return success;
 }
 

src/drivers/pps_capture/PPSCapture.hpp

@@ -67,6 +67,7 @@ public:
 private:
 	void Run() override;
 
+	uint32_t _pps_capture_gpio{0};
 	uORB::Publication<pps_capture_s>	_pps_capture_pub{ORB_ID(pps_capture)};
 
 	static constexpr unsigned USEC_IN_1_SEC{1000000}; // microseconds in 1 second