KINETIS platform update for ChibiOS 18.2.x.

3 files changed, 702 insertions, 0 deletions

diff --git a/os/hal/ports/KINETIS/LLD/TPMv1/driver.mk b/os/hal/ports/KINETIS/LLD/TPMv1/driver.mk
new file mode 100644
index 0000000..d4a0eef
--- /dev/null
+++ b/os/hal/ports/KINETIS/LLD/TPMv1/driver.mk
@@ -0,0 +1,9 @@
+ifeq ($(USE_SMART_BUILD),yes)
+ifneq ($(findstring HAL_USE_PWM TRUE,$(HALCONF)),)
+PLATFORMSRC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/TPMv1/hal_pwm_lld.c
+endif
+else
+PLATFORMSRC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/TPMv1/hal_pwm_lld.c
+endif
+
+PLATFORMINC_CONTRIB += ${CHIBIOS_CONTRIB}/os/hal/ports/KINETIS/LLD/TPMv1
diff --git a/os/hal/ports/KINETIS/LLD/TPMv1/hal_pwm_lld.c b/os/hal/ports/KINETIS/LLD/TPMv1/hal_pwm_lld.c
new file mode 100644
index 0000000..a5eb46a
--- /dev/null
+++ b/os/hal/ports/KINETIS/LLD/TPMv1/hal_pwm_lld.c
@@ -0,0 +1,388 @@
+/*
+    ChibiOS - Copyright (C) 2014 Adam J. Porter
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    KL2x/pwm_lld.c
+ * @brief   KINETIS PWM subsystem low level driver source.
+ *
+ * @addtogroup PWM
+ * @{
+ */
+
+#include "hal.h"
+
+#if HAL_USE_PWM || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   PWMD1 driver identifier.
+ * @note    The driver PWMD1 allocates the timer TPM0 when enabled.
+ */
+#if KINETIS_PWM_USE_TPM0 || defined(__DOXYGEN__)
+PWMDriver PWMD1;
+#endif
+
+/**
+ * @brief   PWMD2 driver identifier.
+ * @note    The driver PWMD2 allocates the timer TPM1 when enabled.
+ */
+#if KINETIS_PWM_USE_TPM1 || defined(__DOXYGEN__)
+PWMDriver PWMD2;
+#endif
+
+/**
+ * @brief   PWMD3 driver identifier.
+ * @note    The driver PWMD3 allocates the timer TPM2 when enabled.
+ */
+#if KINETIS_PWM_USE_TPM2 || defined(__DOXYGEN__)
+PWMDriver PWMD3;
+#endif
+
+/*===========================================================================*/
+/* Driver local variables and types.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+static void pwm_lld_serve_interrupt(PWMDriver *pwmp) {
+  uint32_t sr;
+
+  sr = pwmp->tpm->STATUS;
+  pwmp->tpm->STATUS = 0xFFFFFFFF;
+
+  if (((sr & TPMx_STATUS_TOF) != 0) &&
+      (pwmp->config->callback != NULL))
+    pwmp->config->callback(pwmp);
+  if (((sr & TPMx_STATUS_CH0F) != 0) &&
+      (pwmp->config->channels[0].callback != NULL))
+    pwmp->config->channels[0].callback(pwmp);
+  if (((sr & TPMx_STATUS_CH1F) != 0) &&
+      (pwmp->config->channels[1].callback != NULL))
+    pwmp->config->channels[1].callback(pwmp);
+  if (((sr & TPMx_STATUS_CH2F) != 0) &&
+      (pwmp->config->channels[2].callback != NULL))
+    pwmp->config->channels[2].callback(pwmp);
+  if (((sr & TPMx_STATUS_CH3F) != 0) &&
+      (pwmp->config->channels[3].callback != NULL))
+    pwmp->config->channels[3].callback(pwmp);
+  if (((sr & TPMx_STATUS_CH4F) != 0) &&
+      (pwmp->config->channels[4].callback != NULL))
+    pwmp->config->channels[4].callback(pwmp);
+  if (((sr & TPMx_STATUS_CH5F) != 0) &&
+      (pwmp->config->channels[5].callback != NULL))
+    pwmp->config->channels[5].callback(pwmp);
+}
+
+/*===========================================================================*/
+/* Driver interrupt handlers.                                                */
+/*===========================================================================*/
+
+#if KINETIS_PWM_USE_TPM0
+/**
+ * @brief   TPM0 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(KINETIS_TPM0_IRQ_VECTOR) {
+
+  OSAL_IRQ_PROLOGUE();
+  pwm_lld_serve_interrupt(&PWMD1);
+  OSAL_IRQ_EPILOGUE();
+}
+#endif /* KINETIS_PWM_USE_TPM0 */
+
+#if KINETIS_PWM_USE_TPM1
+/**
+ * @brief   TPM1 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(KINETIS_TPM1_IRQ_VECTOR) {
+
+  OSAL_IRQ_PROLOGUE();
+  pwm_lld_serve_interrupt(&PWMD2);
+  OSAL_IRQ_EPILOGUE();
+}
+#endif /* KINETIS_PWM_USE_TPM1 */
+
+#if KINETIS_PWM_USE_TPM2
+/**
+ * @brief   TPM2 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(KINETIS_TPM2_IRQ_VECTOR) {
+
+  OSAL_IRQ_PROLOGUE();
+  pwm_lld_serve_interrupt(&PWMD3);
+  OSAL_IRQ_EPILOGUE();
+}
+#endif /* KINETIS_PWM_USE_TPM2 */
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   Low level PWM driver initialization.
+ *
+ * @notapi
+ */
+void pwm_lld_init(void) {
+
+#if KINETIS_PWM_USE_TPM0
+  pwmObjectInit(&PWMD1);
+  PWMD1.channels = KINETIS_TPM0_CHANNELS;
+  PWMD1.tpm = TPM0;
+#endif
+
+#if KINETIS_PWM_USE_TPM1
+  pwmObjectInit(&PWMD2);
+  PWMD2.channels = KINETIS_TPM1_CHANNELS;
+  PWMD2.tpm = TPM1;
+#endif
+
+#if KINETIS_PWM_USE_TPM2
+  pwmObjectInit(&PWMD3);
+  PWMD3.channels = KINETIS_TPM2_CHANNELS;
+  PWMD3.tpm = TPM2;
+#endif
+}
+
+/**
+ * @brief   Configures and activates the PWM peripheral.
+ * @note    Starting a driver that is already in the @p PWM_READY state
+ *          disables all the active channels.
+ *
+ * @param[in] pwmp      pointer to a @p PWMDriver object
+ *
+ * @notapi
+ */
+void pwm_lld_start(PWMDriver *pwmp) {
+  uint32_t psc;
+  int i;
+
+  if (pwmp->state == PWM_STOP) {
+    /* Clock activation and timer reset.*/
+#if KINETIS_PWM_USE_TPM0
+    if (&PWMD1 == pwmp) {
+      SIM->SCGC6 |= SIM_SCGC6_TPM0;
+      nvicEnableVector(TPM0_IRQn, KINETIS_PWM_TPM0_IRQ_PRIORITY);
+    }
+#endif
+
+#if KINETIS_PWM_USE_TPM1
+    if (&PWMD2 == pwmp) {
+      SIM->SCGC6 |= SIM_SCGC6_TPM1;
+      nvicEnableVector(TPM1_IRQn, KINETIS_PWM_TPM1_IRQ_PRIORITY);
+    }
+#endif
+
+#if KINETIS_PWM_USE_TPM2
+    if (&PWMD3 == pwmp) {
+      SIM->SCGC6 |= SIM_SCGC6_TPM2;
+      nvicEnableVector(TPM2_IRQn, KINETIS_PWM_TPM2_IRQ_PRIORITY);
+    }
+#endif
+  }
+
+  /* Disable LPTPM counter.*/
+  pwmp->tpm->SC = 0;
+  /* Clear count register.*/
+  pwmp->tpm->CNT = 0;
+
+  /* Prescaler value calculation.*/
+  psc = (KINETIS_SYSCLK_FREQUENCY / pwmp->config->frequency);
+  /* Prescaler must be power of two between 1 and 128.*/
+  osalDbgAssert(psc <= 128 && !(psc & (psc - 1)), "invalid frequency");
+  /* Prescaler register value determination.
+     Prescaler register value conveniently corresponds to bit position,
+     i.e., register value for prescaler CLK/64 is 6 ((1 << 6) == 64).*/
+  for (i = 0; i < 8; i++) {
+    if (psc == (1UL << i)) {
+      break;
+    }
+  }
+  /* Set prescaler and clock mode.
+     This also sets the following:
+          CPWM up-counting mode
+          Timer overflow interrupt disabled
+          DMA disabled.*/
+  pwmp->tpm->SC = TPMx_SC_CMOD_LPTPM_CLK | i;
+  /* Configure period.*/
+  pwmp->tpm->MOD = pwmp->period - 1;
+}
+
+/**
+ * @brief   Deactivates the PWM peripheral.
+ *
+ * @param[in] pwmp      pointer to a @p PWMDriver object
+ *
+ * @notapi
+ */
+void pwm_lld_stop(PWMDriver *pwmp) {
+
+  /* If in ready state then disables the PWM clock.*/
+  if (pwmp->state == PWM_READY) {
+#if KINETIS_PWM_USE_TPM0
+    if (&PWMD1 == pwmp) {
+      SIM->SCGC6 &= ~SIM_SCGC6_TPM0;
+      nvicDisableVector(TPM0_IRQn);
+    }
+#endif
+
+#if KINETIS_PWM_USE_TPM1
+    if (&PWMD2 == pwmp) {
+      SIM->SCGC6 &= ~SIM_SCGC6_TPM1;
+      nvicDisableVector(TPM1_IRQn);
+    }
+#endif
+
+#if KINETIS_PWM_USE_TPM2
+    if (&PWMD3 == pwmp) {
+      SIM->SCGC6 &= ~SIM_SCGC6_TPM2;
+      nvicDisableVector(TPM2_IRQn);
+    }
+#endif
+    /* Disable LPTPM counter.*/
+    pwmp->tpm->SC = 0;
+    pwmp->tpm->MOD = 0;
+  }
+}
+
+
+/**
+ * @brief   Enables a PWM channel.
+ * @pre     The PWM unit must have been activated using @p pwmStart().
+ * @post    The channel is active using the specified configuration.
+ * @note    The function has effect at the next cycle start.
+ * @note    Channel notification is not enabled.
+ *
+ * @param[in] pwmp      pointer to a @p PWMDriver object
+ * @param[in] channel   PWM channel identifier (0...channels-1)
+ * @param[in] width     PWM pulse width as clock pulses number
+ *
+ * @notapi
+ */
+void pwm_lld_enable_channel(PWMDriver *pwmp,
+                            pwmchannel_t channel,
+                            pwmcnt_t width) {
+  uint32_t mode = TPMx_CnSC_MSB; /* Edge-aligned PWM mode.*/
+
+  switch (pwmp->config->channels[channel].mode & PWM_OUTPUT_MASK) {
+  case PWM_OUTPUT_ACTIVE_HIGH:
+    mode |= TPMx_CnSC_ELSB;
+    break;
+  case PWM_OUTPUT_ACTIVE_LOW:
+    mode |= TPMx_CnSC_ELSA;
+    break;
+  }
+
+  if (pwmp->tpm->C[channel].SC & TPMx_CnSC_CHIE)
+    mode |= TPMx_CnSC_CHIE;
+
+  pwmp->tpm->C[channel].SC = mode;
+  pwmp->tpm->C[channel].V = width;
+}
+
+/**
+ * @brief   Disables a PWM channel and its notification.
+ * @pre     The PWM unit must have been activated using @p pwmStart().
+ * @post    The channel is disabled and its output line returned to the
+ *          idle state.
+ * @note    The function has effect at the next cycle start.
+ *
+ * @param[in] pwmp      pointer to a @p PWMDriver object
+ * @param[in] channel   PWM channel identifier (0...channels-1)
+ *
+ * @notapi
+ */
+void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) {
+
+  pwmp->tpm->C[channel].SC = 0;
+  pwmp->tpm->C[channel].V = 0;
+}
+
+/**
+ * @brief   Enables the periodic activation edge notification.
+ * @pre     The PWM unit must have been activated using @p pwmStart().
+ * @note    If the notification is already enabled then the call has no effect.
+ *
+ * @param[in] pwmp      pointer to a @p PWMDriver object
+ *
+ * @notapi
+ */
+void pwm_lld_enable_periodic_notification(PWMDriver *pwmp) {
+
+  pwmp->tpm->SC |= TPMx_SC_TOIE;
+}
+
+/**
+ * @brief   Disables the periodic activation edge notification.
+ * @pre     The PWM unit must have been activated using @p pwmStart().
+ * @note    If the notification is already disabled then the call has no effect.
+ *
+ * @param[in] pwmp      pointer to a @p PWMDriver object
+ *
+ * @notapi
+ */
+void pwm_lld_disable_periodic_notification(PWMDriver *pwmp) {
+
+  pwmp->tpm->SC &= ~TPMx_SC_TOIE;
+}
+
+/**
+ * @brief   Enables a channel de-activation edge notification.
+ * @pre     The PWM unit must have been activated using @p pwmStart().
+ * @pre     The channel must have been activated using @p pwmEnableChannel().
+ * @note    If the notification is already enabled then the call has no effect.
+ *
+ * @param[in] pwmp      pointer to a @p PWMDriver object
+ * @param[in] channel   PWM channel identifier (0...channels-1)
+ *
+ * @notapi
+ */
+void pwm_lld_enable_channel_notification(PWMDriver *pwmp,
+                                         pwmchannel_t channel) {
+
+  pwmp->tpm->C[channel].SC |= TPMx_CnSC_CHIE;
+}
+
+/**
+ * @brief   Disables a channel de-activation edge notification.
+ * @pre     The PWM unit must have been activated using @p pwmStart().
+ * @pre     The channel must have been activated using @p pwmEnableChannel().
+ * @note    If the notification is already disabled then the call has no effect.
+ *
+ * @param[in] pwmp      pointer to a @p PWMDriver object
+ * @param[in] channel   PWM channel identifier (0...channels-1)
+ *
+ * @notapi
+ */
+void pwm_lld_disable_channel_notification(PWMDriver *pwmp,
+                                          pwmchannel_t channel) {
+
+  pwmp->tpm->C[channel].SC &= ~TPMx_CnSC_CHIE;
+}
+
+#endif /* HAL_USE_PWM */
+
+/** @} */
diff --git a/os/hal/ports/KINETIS/LLD/TPMv1/hal_pwm_lld.h b/os/hal/ports/KINETIS/LLD/TPMv1/hal_pwm_lld.h
new file mode 100644
index 0000000..9821369
--- /dev/null
+++ b/os/hal/ports/KINETIS/LLD/TPMv1/hal_pwm_lld.h
@@ -0,0 +1,305 @@
+/*
+    ChibiOS - Copyright (C) 2006..2015 Adam J. Porter
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    KL2x/pwm_lld.h
+ * @brief   KINETIS PWM subsystem low level driver header.
+ *
+ * @addtogroup PWM
+ * @{
+ */
+
+#ifndef HAL_PWM_LLD_H_
+#define HAL_PWM_LLD_H_
+
+#if HAL_USE_PWM || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants.                                                         */
+/*===========================================================================*/
+
+#if !defined(KINETIS_PWM_USE_TPM0)
+#define KINETIS_PWM_USE_TPM0 FALSE
+#endif
+#if !defined(KINETIS_PWM_USE_TPM1)
+#define KINETIS_PWM_USE_TPM1 FALSE
+#endif
+#if !defined(KINETIS_PWM_USE_TPM2)
+#define KINETIS_PWM_USE_TPM2 FALSE
+#endif
+
+/**
+ * @brief   Number of PWM channels per PWM driver.
+ */
+#define PWM_CHANNELS                            6
+
+/*===========================================================================*/
+/* Driver pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @name    Configuration options
+ * @{
+ */
+/**
+ * @brief   If advanced timer features switch.
+ * @details If set to @p TRUE the advanced features for TIM1 and TIM8 are
+ *          enabled.
+ * @note    The default is @p TRUE.
+ */
+#if !defined(KINETIS_PWM_USE_ADVANCED) || defined(__DOXYGEN__)
+#define KINETIS_PWM_USE_ADVANCED              FALSE
+#endif
+
+/**
+ * @brief   TPM0 interrupt priority level setting.
+ * @note    The default is 2.
+ */
+#if !defined(KINETIS_PWM_TPM0_IRQ_PRIORITY)|| defined(__DOXYGEN__)
+#define KINETIS_PWM_TPM0_IRQ_PRIORITY      2
+#endif
+
+/**
+ * @brief   TPM1 interrupt priority level setting.
+ * @note    The default is 2.
+ */
+#if !defined(KINETIS_PWM_TPM1_IRQ_PRIORITY)|| defined(__DOXYGEN__)
+#define KINETIS_PWM_TPM1_IRQ_PRIORITY      2
+#endif
+
+/**
+ * @brief   TPM2 interrupt priority level setting.
+ * @note    The default is 2.
+ */
+#if !defined(KINETIS_PWM_TPM2_IRQ_PRIORITY)|| defined(__DOXYGEN__)
+#define KINETIS_PWM_TPM2_IRQ_PRIORITY      2
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/* Configuration checks.                                                     */
+/*===========================================================================*/
+
+#if KINETIS_PWM_USE_TPM0 && !KINETIS_HAS_TPM0
+#error "TPM0 not present in the selected device"
+#endif
+
+#if KINETIS_PWM_USE_TPM1 && !KINETIS_HAS_TPM1
+#error "TPM1 not present in the selected device"
+#endif
+
+#if KINETIS_PWM_USE_TPM2 && !KINETIS_HAS_TPM2
+#error "TPM2 not present in the selected device"
+#endif
+
+#if !KINETIS_PWM_USE_TPM0 && !KINETIS_PWM_USE_TPM1 && !KINETIS_PWM_USE_TPM2
+#error "PWM driver activated but no TPM peripheral assigned"
+#endif
+
+#if KINETIS_PWM_USE_TPM0 &&                                                   \
+    !OSAL_IRQ_IS_VALID_PRIORITY(KINETIS_PWM_TPM0_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to KINETIS_PWM_TPM0_IRQ_PRIORITY"
+#endif
+
+#if KINETIS_PWM_USE_TPM1 &&                                                   \
+    !OSAL_IRQ_IS_VALID_PRIORITY(KINETIS_PWM_TPM1_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to KINETIS_PWM_TPM1_IRQ_PRIORITY"
+#endif
+
+#if KINETIS_PWM_USE_TPM2 &&                                                   \
+    !OSAL_IRQ_IS_VALID_PRIORITY(KINETIS_PWM_TPM2_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to KINETIS_PWM_TPM2_IRQ_PRIORITY"
+#endif
+
+#if !defined(KINETIS_TPM0_IRQ_VECTOR)
+#error "KINETIS_TPM0_IRQ_VECTOR not defined"
+#endif
+
+#if !defined(KINETIS_TPM1_IRQ_VECTOR)
+#error "KINETIS_TPM1_IRQ_VECTOR not defined"
+#endif
+
+#if !defined(KINETIS_TPM2_IRQ_VECTOR)
+#error "KINETIS_TPM2_IRQ_VECTOR not defined"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Type of a PWM mode.
+ */
+typedef uint32_t pwmmode_t;
+
+/**
+ * @brief   Type of a PWM channel.
+ */
+typedef uint8_t pwmchannel_t;
+
+/**
+ * @brief   Type of a channels mask.
+ */
+typedef uint32_t pwmchnmsk_t;
+
+/**
+ * @brief   Type of a PWM counter.
+ */
+typedef uint16_t pwmcnt_t;
+
+/**
+ * @brief   Type of a PWM driver channel configuration structure.
+ */
+typedef struct {
+  /**
+   * @brief Channel active logic level.
+   */
+  pwmmode_t                 mode;
+  /**
+   * @brief Channel callback pointer.
+   * @note  This callback is invoked on the channel compare event. If set to
+   *        @p NULL then the callback is disabled.
+   */
+  pwmcallback_t             callback;
+  /* End of the mandatory fields.*/
+} PWMChannelConfig;
+
+/**
+ * @brief   Type of a PWM driver configuration structure.
+ */
+typedef struct {
+  /**
+   * @brief   Timer clock in Hz.
+   * @note    The low level can use assertions in order to catch invalid
+   *          frequency specifications.
+   */
+  uint32_t                  frequency;
+  /**
+   * @brief   PWM period in ticks.
+   * @note    The low level can use assertions in order to catch invalid
+   *          period specifications.
+   */
+  pwmcnt_t                  period;
+  /**
+   * @brief Periodic callback pointer.
+   * @note  This callback is invoked on PWM counter reset. If set to
+   *        @p NULL then the callback is disabled.
+   */
+  pwmcallback_t             callback;
+  /**
+   * @brief Channels configurations.
+   */
+  PWMChannelConfig          channels[PWM_CHANNELS];
+  /* End of the mandatory fields.*/
+} PWMConfig;
+
+/**
+ * @brief   Structure representing a PWM driver.
+ */
+struct PWMDriver {
+  /**
+   * @brief Driver state.
+   */
+  pwmstate_t                state;
+  /**
+   * @brief Current driver configuration data.
+   */
+  const PWMConfig           *config;
+  /**
+   * @brief   Current PWM period in ticks.
+   */
+  pwmcnt_t                  period;
+  /**
+   * @brief   Mask of the enabled channels.
+   */
+  pwmchnmsk_t               enabled;
+  /**
+   * @brief   Number of channels in this instance.
+   */
+  pwmchannel_t              channels;
+#if defined(PWM_DRIVER_EXT_FIELDS)
+  PWM_DRIVER_EXT_FIELDS
+#endif
+  /* End of the mandatory fields.*/
+  /**
+   * @brief Pointer to the TPM registers block.
+   */
+  TPM_TypeDef               *tpm;
+};
+
+/*===========================================================================*/
+/* Driver macros.                                                            */
+/*===========================================================================*/
+
+/**
+ * @brief   Changes the period the PWM peripheral.
+ * @details This function changes the period of a PWM unit that has already
+ *          been activated using @p pwmStart().
+ * @pre     The PWM unit must have been activated using @p pwmStart().
+ * @post    The PWM unit period is changed to the new value.
+ * @note    The function has effect at the next cycle start.
+ * @note    If a period is specified that is shorter than the pulse width
+ *          programmed in one of the channels then the behavior is not
+ *          guaranteed.
+ *
+ * @param[in] pwmp      pointer to a @p PWMDriver object
+ * @param[in] period    new cycle time in ticks
+ *
+ * @notapi
+ */
+#define pwm_lld_change_period(pwmp, period)                                 \
+  ((pwmp)->tpm->MOD = ((period) - 1))
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#if KINETIS_PWM_USE_TPM0 || defined(__DOXYGEN__)
+extern PWMDriver PWMD1;
+#endif
+#if KINETIS_PWM_USE_TPM1 || defined(__DOXYGEN__)
+extern PWMDriver PWMD2;
+#endif
+#if KINETIS_PWM_USE_TPM2 || defined(__DOXYGEN__)
+extern PWMDriver PWMD3;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void pwm_lld_init(void);
+  void pwm_lld_start(PWMDriver *pwmp);
+  void pwm_lld_stop(PWMDriver *pwmp);
+  void pwm_lld_enable_channel(PWMDriver *pwmp,
+                              pwmchannel_t channel,
+                              pwmcnt_t width);
+  void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel);
+  void pwm_lld_enable_periodic_notification(PWMDriver *pwmp);
+  void pwm_lld_disable_periodic_notification(PWMDriver *pwmp);
+  void pwm_lld_enable_channel_notification(PWMDriver *pwmp,
+                                           pwmchannel_t channel);
+  void pwm_lld_disable_channel_notification(PWMDriver *pwmp,
+                                            pwmchannel_t channel);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_PWM */
+
+#endif /* HAL_PWM_LLD_H_ */
+
+/** @} */