diff --git a/boards/nxp/fmurt1062-v1/src/timer_config.c b/boards/nxp/fmurt1062-v1/src/timer_config.c
index e9d0c5e389..43e50a4664 100644
--- a/boards/nxp/fmurt1062-v1/src/timer_config.c
+++ b/boards/nxp/fmurt1062-v1/src/timer_config.c
@@ -86,26 +86,37 @@
 __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
 	{
 		.base = IMXRT_FLEXPWM2_BASE,
-		.first_channel_index = 0,
-		.last_channel_index  = 3,
 	},
-
 	{
 		.base = IMXRT_FLEXPWM3_BASE,
-		.first_channel_index = 4,
-		.last_channel_index  = 5,
 	},
 	{
 		.base = IMXRT_FLEXPWM4_BASE,
-		.first_channel_index = 6,
-		.last_channel_index  = 7,
 	},
 };
 
+__EXPORT const io_timers_channel_mapping_t io_timers_channel_mapping = {
+	.element = {
+		{
+			.first_channel_index = 0,
+			.channel_count = 4,
+		},
+		{
+			.first_channel_index = 4,
+			.channel_count = 2,
+		},
+		{
+			.first_channel_index = 6,
+			.channel_count = 2,
+		}
+	}
+};
+
 __EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	{
 		/* FMU_CH1 : GPIO_B0_06    GPIO2 Pin 6  FLEXPWM2_PWMA0 */
 		.gpio_out         = PIN_FLEXPWM2_PWMA00,
+		.gpio_portpin     = GPIO_PORT2 | GPIO_PIN6,
 		.timer_index      = 0,
 		.val_offset       = PWMA_VAL,
 		.sub_module       = SM0,
@@ -115,6 +126,7 @@ __EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	{
 		/* FMU_CH2 : GPIO_EMC_08   GPIO4 Pin 8  FLEXPWM2_PWMA1 */
 		.gpio_out         = PIN_FLEXPWM2_PWMA01,
+		.gpio_portpin     = GPIO_PORT4 | GPIO_PIN8,
 		.timer_index      = 0,
 		.val_offset       = PWMA_VAL,
 		.sub_module       = SM1,
@@ -124,6 +136,7 @@ __EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	{
 		/* FMU_CH3 : GPIO_EMC_10   GPIO4 Pin 10 FLEXPWM2_PWMA2 */
 		.gpio_out         = PIN_FLEXPWM2_PWMA02,
+		.gpio_portpin     = GPIO_PORT4 | GPIO_PIN10,
 		.timer_index      = 0,
 		.val_offset       = PWMA_VAL,
 		.sub_module       = SM2,
@@ -133,6 +146,7 @@ __EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	{
 		/* FMU_CH4 : GPIO_AD_B0_09 GPIO1 Pin 9  FLEXPWM2_PWMA3 */
 		.gpio_out         = PIN_FLEXPWM2_PWMA03,
+		.gpio_portpin     = GPIO_PORT1 | GPIO_PIN9,
 		.timer_index      = 0,
 		.val_offset       = PWMA_VAL,
 		.sub_module       = SM3,
@@ -142,6 +156,7 @@ __EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	{
 		/* FMU_CH5 : GPIO_EMC_33   GPIO3 Pin 19 FLEXPWM3_PWMA2 */
 		.gpio_out         = PIN_FLEXPWM3_PWMA02,
+		.gpio_portpin     = GPIO_PORT3 | GPIO_PIN19,
 		.timer_index      = 1,
 		.val_offset       = PWMA_VAL,
 		.sub_module       = SM2,
@@ -150,6 +165,7 @@ __EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	{
 		/* FMU_CH6 : GPIO_EMC_30   GPIO4 Pin 30 FLEXPWM3_PWMB0 */
 		.gpio_out         = PIN_FLEXPWM3_PWMB00,
+		.gpio_portpin     = GPIO_PORT4 | GPIO_PIN30,
 		.timer_index      = 1,
 		.val_offset       = PWMB_VAL,
 		.sub_module       = SM0,
@@ -160,6 +176,7 @@ __EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	{
 		/* FMU_CH7 : GPIO_EMC_04   GPIO4 Pin 4  FLEXPWM4_PWMA2 */
 		.gpio_out         = PIN_FLEXPWM4_PWMA02,
+		.gpio_portpin     = GPIO_PORT4 | GPIO_PIN4,
 		.timer_index      = 2,
 		.val_offset       = PWMA_VAL,
 		.sub_module       = SM2,
@@ -169,6 +186,7 @@ __EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	{
 		/* FMU_CH8 : GPIO_EMC_01   GPIO4 Pin 1  FLEXPWM4_PWMB0 */
 		.gpio_out         = PIN_FLEXPWM4_PWMB00,
+		.gpio_portpin     = GPIO_PORT4 | GPIO_PIN1,
 		.timer_index      = 2,
 		.val_offset       = PWMB_VAL,
 		.sub_module       = SM0,
diff --git a/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/io_timer.h b/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/io_timer.h
index d8ebd7c9ef..19c473dacd 100644
--- a/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/io_timer.h
+++ b/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/io_timer.h
@@ -77,15 +77,23 @@ typedef struct io_timers_t {
 	uint32_t  clock_register;      /* SIM_SCGCn */
 	uint32_t  clock_bit;           /* SIM_SCGCn bit pos */
 	uint32_t  vectorno;            /* IRQ number */
-	uint32_t  first_channel_index; /* 0 based index in timer_io_channels */
-	uint32_t  last_channel_index;  /* 0 based index in timer_io_channels */
-	xcpt_t    handler;
 } io_timers_t;
 
+typedef struct io_timers_channel_mapping_element_t {
+	uint32_t first_channel_index;
+	uint32_t channel_count;
+} io_timers_channel_mapping_element_t;
+
+/* mapping for each io_timers to timer_io_channels */
+typedef struct io_timers_channel_mapping_t {
+	io_timers_channel_mapping_element_t element[MAX_IO_TIMERS];
+} io_timers_channel_mapping_t;
+
 /* array of channels in logical order */
 typedef struct timer_io_channels_t {
 	uint32_t	gpio_out;            /* The timer valn_offset GPIO for PWM */
 	uint32_t	gpio_in;             /* The timer valn_offset GPIO for Capture */
+	uint32_t	gpio_portpin;        /* The GPIO Port + Pin (e.g. GPIO_PORT2 | GPIO_PIN6) */
 	uint8_t		timer_index;         /* 0 based index in the io_timers_t table */
 	uint8_t   val_offset;          /* IMXRT_FLEXPWM_SM0VAL3_OFFSET or IMXRT_FLEXPWM_SM0VAL5_OFFSET */
 	uint8_t   sub_module;          /* 0 based sub module offset */
@@ -109,16 +117,13 @@ typedef void (*channel_handler_t)(void *context, const io_timers_t *timer, uint3
 
 /* supplied by board-specific code */
 __EXPORT extern const io_timers_t io_timers[MAX_IO_TIMERS];
+__EXPORT extern const io_timers_channel_mapping_t io_timers_channel_mapping;
 __EXPORT extern const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS];
 
 __EXPORT extern const io_timers_t led_pwm_timers[MAX_LED_TIMERS];
 __EXPORT extern const timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS];
 
 __EXPORT extern io_timer_channel_allocation_t allocations[IOTimerChanModeSize];
-__EXPORT int io_timer_handler0(int irq, void *context, void *arg);
-__EXPORT int io_timer_handler1(int irq, void *context, void *arg);
-__EXPORT int io_timer_handler2(int irq, void *context, void *arg);
-__EXPORT int io_timer_handler3(int irq, void *context, void *arg);
 
 __EXPORT int io_timer_channel_init(unsigned channel, io_timer_channel_mode_t mode,
 				   channel_handler_t channel_handler, void *context);
@@ -139,4 +144,15 @@ __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
diff --git a/platforms/nuttx/src/px4/nxp/imxrt/io_pins/CMakeLists.txt b/platforms/nuttx/src/px4/nxp/imxrt/io_pins/CMakeLists.txt
index 401bf06ef5..a048ebfa8e 100644
--- a/platforms/nuttx/src/px4/nxp/imxrt/io_pins/CMakeLists.txt
+++ b/platforms/nuttx/src/px4/nxp/imxrt/io_pins/CMakeLists.txt
@@ -31,6 +31,10 @@
 #
 ############################################################################
 
+add_compile_options(
+	-Wno-unused-function
+	) # TODO: remove once io_timer_handlerX are used
+
 px4_add_library(arch_io_pins
 	io_timer.c
 	pwm_servo.c
diff --git a/platforms/nuttx/src/px4/nxp/imxrt/io_pins/io_timer.c b/platforms/nuttx/src/px4/nxp/imxrt/io_pins/io_timer.c
index 271d2e6338..e7de2d859f 100644
--- a/platforms/nuttx/src/px4/nxp/imxrt/io_pins/io_timer.c
+++ b/platforms/nuttx/src/px4/nxp/imxrt/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 imxrt FLEXPWM blocks.
  */
@@ -62,6 +62,15 @@
 #include "hardware/imxrt_flexpwm.h"
 #include "imxrt_periphclks.h"
 
+static int io_timer_handler0(int irq, void *context, void *arg);
+static int io_timer_handler1(int irq, void *context, void *arg);
+static int io_timer_handler2(int irq, void *context, void *arg);
+static int io_timer_handler3(int irq, void *context, void *arg);
+static int io_timer_handler4(int irq, void *context, void *arg);
+static int io_timer_handler5(int irq, void *context, void *arg);
+static int io_timer_handler6(int irq, void *context, void *arg);
+static int io_timer_handler7(int irq, void *context, void *arg);
+
 #if !defined(BOARD_PWM_FREQ)
 #define BOARD_PWM_FREQ 1000000
 #endif
@@ -169,26 +178,39 @@ static int io_timer_handler(uint16_t timer_index)
 
 int io_timer_handler0(int irq, void *context, void *arg)
 {
-
 	return io_timer_handler(0);
 }
 
 int io_timer_handler1(int irq, void *context, void *arg)
 {
 	return io_timer_handler(1);
-
 }
 
 int io_timer_handler2(int irq, void *context, void *arg)
 {
 	return io_timer_handler(2);
-
 }
 
 int io_timer_handler3(int irq, void *context, void *arg)
 {
 	return io_timer_handler(3);
+}
 
+int io_timer_handler4(int irq, void *context, void *arg)
+{
+	return io_timer_handler(4);
+}
+int io_timer_handler5(int irq, void *context, void *arg)
+{
+	return io_timer_handler(5);
+}
+int io_timer_handler6(int irq, void *context, void *arg)
+{
+	return io_timer_handler(6);
+}
+int io_timer_handler7(int irq, void *context, void *arg)
+{
+	return io_timer_handler(7);
 }
 
 static inline int is_timer_uninitalized(unsigned timer)
@@ -247,6 +269,26 @@ 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_portpin | (GPIO_OUTPUT | GPIO_OUTPUT_ZERO | IOMUX_CMOS_OUTPUT | IOMUX_PULL_KEEP
+			| IOMUX_DRIVE_33OHM  | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST);
+	return 0;
+}
+
+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) {
@@ -409,8 +451,10 @@ void io_timer_trigger(void)
 		action_cache[actions].base = io_timers[timer].base;
 
 		if (action_cache[actions].base) {
-			for (uint32_t channel = io_timers[timer].first_channel_index;
-			     channel <= io_timers[timer].last_channel_index; channel++) {
+			uint32_t first_channel_index = io_timers_channel_mapping.element[timer].first_channel_index;
+			uint32_t last_channel_index = first_channel_index + io_timers_channel_mapping.element[timer].channel_count;
+
+			for (uint32_t channel = first_channel_index; channel < last_channel_index; channel++) {
 				mask = get_channel_mask(channel);
 
 				if (oneshots & mask) {
@@ -467,8 +511,10 @@ int io_timer_init_timer(unsigned timer)
 			break;
 		}
 
-		for (uint32_t chan = io_timers[timer].first_channel_index;
-		     chan <= io_timers[timer].last_channel_index; chan++) {
+		uint32_t first_channel_index = io_timers_channel_mapping.element[timer].first_channel_index;
+		uint32_t last_channel_index = first_channel_index + io_timers_channel_mapping.element[timer].channel_count;
+
+		for (uint32_t chan = first_channel_index; chan < last_channel_index; chan++) {
 
 			/* Clear all Faults */
 			rFSTS0(timer) = FSTS_FFLAG_MASK;