From ada48571d76a32f05d6679e0f818505585cc9ce7 Mon Sep 17 00:00:00 2001
From: Simone Guscetti <simone@px4.io>
Date: Fri, 19 May 2017 15:26:31 +0200
Subject: [PATCH] fmu-v5: fix timer config

---
 .../boards/px4fmu-v5/px4fmu_timer_config.c    | 27 +++++++++----------
 src/drivers/stm32/drv_io_timer.c              |  6 +++++
 src/drivers/stm32/drv_io_timer.h              |  3 ++-
 3 files changed, 21 insertions(+), 15 deletions(-)

diff --git a/src/drivers/boards/px4fmu-v5/px4fmu_timer_config.c b/src/drivers/boards/px4fmu-v5/px4fmu_timer_config.c
index 0899f758f0..ef5eca0190 100644
--- a/src/drivers/boards/px4fmu-v5/px4fmu_timer_config.c
+++ b/src/drivers/boards/px4fmu-v5/px4fmu_timer_config.c
@@ -82,26 +82,25 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
 		.handler = io_timer_handler2,
 		.vectorno =  STM32_IRQ_TIM12,
 	},
+	{
+		.base = STM32_TIM2_BASE,
+		.clock_register = STM32_RCC_APB1ENR,
+		.clock_bit = RCC_APB1ENR_TIM2EN,
+		.clock_freq = STM32_APB1_TIM2_CLKIN,
+		.first_channel_index = 8,
+		.last_channel_index = 10,
+		.handler = io_timer_handler3,
+		.vectorno =  STM32_IRQ_TIM2,
+	},
 	{
 		.base = STM32_TIM9_BASE,
 		.clock_register = STM32_RCC_APB2ENR,
 		.clock_bit = RCC_APB2ENR_TIM9EN,
 		.clock_freq = STM32_APB2_TIM9_CLKIN,
-		.first_channel_index = 8,
-		.last_channel_index = 8,
-		.handler = io_timer_handler3,
-		.vectorno =  STM32_IRQ_TIM9,
-
-	},
-	{
-		.base = STM32_TIM2_BASE,
-		.clock_register = STM32_RCC_APB1ENR,
-		.clock_bit = RCC_APB2ENR_TIM2EN,
-		.clock_freq = STM32_APB2_TIM2_CLKIN,
-		.first_channel_index = 9,
-		.last_channel_index = 9,
+		.first_channel_index = 11,
+		.last_channel_index = 11,
 		.handler = io_timer_handler4,
-		.vectorno =  STM32_IRQ_TIM2,
+		.vectorno =  STM32_IRQ_TIM9,
 
 	}
 };
diff --git a/src/drivers/stm32/drv_io_timer.c b/src/drivers/stm32/drv_io_timer.c
index 22cc3a2106..f078cf83fc 100644
--- a/src/drivers/stm32/drv_io_timer.c
+++ b/src/drivers/stm32/drv_io_timer.c
@@ -232,6 +232,12 @@ int io_timer_handler3(int irq, void *context)
 
 }
 
+int io_timer_handler4(int irq, void *context)
+{
+	return io_timer_handler(4);
+
+}
+
 static inline int validate_timer_index(unsigned timer)
 {
 	return (timer < MAX_IO_TIMERS && io_timers[timer].base != 0) ? 0 : -EINVAL;
diff --git a/src/drivers/stm32/drv_io_timer.h b/src/drivers/stm32/drv_io_timer.h
index fc96aa29c6..75360d00fb 100644
--- a/src/drivers/stm32/drv_io_timer.h
+++ b/src/drivers/stm32/drv_io_timer.h
@@ -45,7 +45,7 @@
 #pragma once
 __BEGIN_DECLS
 /* configuration limits */
-#define MAX_IO_TIMERS			4
+#define MAX_IO_TIMERS			5
 #define MAX_TIMER_IO_CHANNELS	8
 
 #define MAX_LED_TIMERS			2
@@ -112,6 +112,7 @@ __EXPORT int io_timer_handler0(int irq, void *context);
 __EXPORT int io_timer_handler1(int irq, void *context);
 __EXPORT int io_timer_handler2(int irq, void *context);
 __EXPORT int io_timer_handler3(int irq, void *context);
+__EXPORT int io_timer_handler4(int irq, void *context);
 
 __EXPORT int io_timer_channel_init(unsigned channel, io_timer_channel_mode_t mode,
 				   channel_handler_t channel_handler, void *context);