TIMCAP: Initial commit

10 files changed, 1603 insertions, 6 deletions

diff --git a/os/hal/hal.mk b/os/hal/hal.mk
index 0fcced7..808813e 100644
--- a/os/hal/hal.mk
+++ b/os/hal/hal.mk
@@ -12,8 +12,9 @@ HALSRC += ${CHIBIOS_CONTRIB}/os/hal/src/hal_community.c \
           ${CHIBIOS_CONTRIB}/os/hal/src/usbh/usbh_msd.c \

           ${CHIBIOS_CONTRIB}/os/hal/src/usbh/usbh_ftdi.c \

           ${CHIBIOS_CONTRIB}/os/hal/src/usbh/usbh_uvc.c \

-	  ${CHIBIOS_CONTRIB}/os/hal/src/ee24xx.c \

+	      ${CHIBIOS_CONTRIB}/os/hal/src/ee24xx.c \

           ${CHIBIOS_CONTRIB}/os/hal/src/ee25xx.c \

-          ${CHIBIOS_CONTRIB}/os/hal/src/eeprom.c

+          ${CHIBIOS_CONTRIB}/os/hal/src/eeprom.c \

+          ${CHIBIOS_CONTRIB}/os/hal/src/timcap.c \

 

 HALINC += ${CHIBIOS_CONTRIB}/os/hal/include

diff --git a/os/hal/include/hal_community.h b/os/hal/include/hal_community.h
index 5ed561f..7c83078 100644
--- a/os/hal/include/hal_community.h
+++ b/os/hal/include/hal_community.h
@@ -33,6 +33,7 @@
 #include "nand.h"

 #include "eicu.h"

 #include "usbh.h"

+#include "timcap.h"

 

 /* Complex drivers.*/

 #include "onewire.h"

diff --git a/os/hal/include/timcap.h b/os/hal/include/timcap.h
new file mode 100644
index 0000000..a848783
--- /dev/null
+++ b/os/hal/include/timcap.h
@@ -0,0 +1,210 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+                 2011,2012,2013 Giovanni Di Sirio.
+
+    This file is part of ChibiOS/RT.
+
+    ChibiOS/RT is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 3 of the License, or
+    (at your option) any later version.
+
+    ChibiOS/RT is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file    timcap.h
+ * @brief   TIMCAP Driver macros and structures.
+ *
+ * @addtogroup TIMCAP
+ * @{
+ */
+
+#ifndef _TIMCAP_H_
+#define _TIMCAP_H_
+
+#include "ch.h"
+#include "hal.h"
+
+#ifndef HAL_USE_TIMCAP
+#define HAL_USE_TIMCAP FALSE
+#endif
+
+#if HAL_USE_TIMCAP || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants.                                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Driver state machine possible states.
+ */
+typedef enum {
+  TIMCAP_UNINIT = 0,                   /**< Not initialized.                   */
+  TIMCAP_STOP = 1,                     /**< Stopped.                           */
+  TIMCAP_READY = 2,                    /**< Ready.                             */
+  TIMCAP_WAITING = 3,                  /**< Waiting first edge.                */
+  TIMCAP_ACTIVE = 4,                   /**< Active cycle phase.                */
+  TIMCAP_IDLE = 5,                     /**< Idle cycle phase.                  */
+} timcapstate_t;
+
+/**
+ * @brief   Type of a structure representing an TIMCAP driver.
+ */
+typedef struct TIMCAPDriver TIMCAPDriver;
+
+
+/**
+ * @brief   TIMCAP notification callback type.
+ *
+ * @param[in] timcapp      pointer to a @p TIMCAPDriver object
+ */
+typedef void (*timcapcallback_t)(TIMCAPDriver *timcapp);
+
+#include "timcap_lld.h"
+
+/*===========================================================================*/
+/* Driver macros.                                                            */
+/*===========================================================================*/
+
+/**
+ * @name    Macro Functions
+ * @{
+ */
+/**
+ * @brief   Enables the input capture.
+ *
+ * @param[in] timcapp      pointer to the @p TIMCAPDriver object
+ *
+ * @iclass
+ */
+#define timcapEnableI(timcapp) timcap_lld_enable(timcapp)
+
+/**
+ * @brief   Disables the input capture.
+ *
+ * @param[in] timcapp      pointer to the @p TIMCAPDriver object
+ *
+ * @iclass
+ */
+#define timcapDisableI(timcapp) timcap_lld_disable(timcapp)
+
+
+
+
+/** @} */
+
+/**
+ * @name    Low Level driver helper macros
+ * @{
+ */
+
+
+/**
+ * @brief   Common ISR code, TIMCAP channel 1 event.
+ *
+ * @param[in] timcapp      pointer to the @p TIMCAPDriver object
+ *
+ * @notapi
+ */
+#define _timcap_isr_invoke_channel1_cb(timcapp) {                                   \
+  timcapstate_t previous_state = (timcapp)->state;                                \
+  (timcapp)->state = TIMCAP_ACTIVE;                                               \
+  if (previous_state != TIMCAP_WAITING)                                        \
+    (timcapp)->config->capture_cb_array[0](timcapp);                                        \
+}
+
+/**
+ * @brief   Common ISR code, TIMCAP channel 2 event.
+ *
+ * @param[in] timcapp      pointer to the @p TIMCAPDriver object
+ *
+ * @notapi
+ */
+#define _timcap_isr_invoke_channel2_cb(timcapp) {                                   \
+  timcapstate_t previous_state = (timcapp)->state;                                \
+  (timcapp)->state = TIMCAP_ACTIVE;                                               \
+  if (previous_state != TIMCAP_WAITING)                                        \
+    (timcapp)->config->capture_cb_array[1](timcapp);                                        \
+}
+
+/**
+ * @brief   Common ISR code, TIMCAP channel 3 event.
+ *
+ * @param[in] timcapp      pointer to the @p TIMCAPDriver object
+ *
+ * @notapi
+ */
+#define _timcap_isr_invoke_channel3_cb(timcapp) {                                   \
+  timcapstate_t previous_state = (timcapp)->state;                                \
+  (timcapp)->state = TIMCAP_ACTIVE;                                               \
+  if (previous_state != TIMCAP_WAITING)                                        \
+    (timcapp)->config->capture_cb_array[2](timcapp);                                        \
+}
+
+/**
+ * @brief   Common ISR code, TIMCAP channel 4 event.
+ *
+ * @param[in] timcapp      pointer to the @p TIMCAPDriver object
+ *
+ * @notapi
+ */
+#define _timcap_isr_invoke_channel4_cb(timcapp) {                                   \
+  timcapstate_t previous_state = (timcapp)->state;                                \
+  (timcapp)->state = TIMCAP_ACTIVE;                                               \
+  if (previous_state != TIMCAP_WAITING)                                        \
+    (timcapp)->config->capture_cb_array[3](timcapp);                                        \
+}
+
+/**
+ * @brief   Common ISR code, TIMCAP timer overflow event.
+ *
+ * @param[in] timcapp      pointer to the @p TIMCAPDriver object
+ *
+ * @notapi
+ */
+#define _timcap_isr_invoke_overflow_cb(timcapp) {                                 \
+  (timcapp)->config->overflow_cb(timcapp);                                        \
+}
+/** @} */
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void timcapInit(void);
+  void timcapObjectInit(TIMCAPDriver *timcapp);
+  void timcapStart(TIMCAPDriver *timcapp, const TIMCAPConfig *config);
+  void timcapStop(TIMCAPDriver *timcapp);
+  void timcapEnable(TIMCAPDriver *timcapp);
+  void timcapDisable(TIMCAPDriver *timcapp);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_TIMCAP */
+
+#endif /* _TIMCAP_H_ */
+
+/** @} */
diff --git a/os/hal/ports/STM32/LLD/TIMv1/timcap_lld.c b/os/hal/ports/STM32/LLD/TIMv1/timcap_lld.c
new file mode 100644
index 0000000..635e9b2
--- /dev/null
+++ b/os/hal/ports/STM32/LLD/TIMv1/timcap_lld.c
@@ -0,0 +1,818 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
+
+    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.
+*/
+/*
+   This file was derived from the ICU subsystem code, modified to achieve
+   timing measurements on 2 and/or 4 channel STM32 timers by Dave Camarillo.
+ */
+/*
+   Concepts and parts of this file have been contributed by Fabio Utzig and
+   Xo Wang.
+ */
+
+
+/**
+ * @file    STM32/timcap_lld.c
+ * @brief   STM32 TIMCAP subsystem low level driver header.
+ *
+ * @addtogroup TIMCAP
+ * @{
+ */
+
+#include "ch.h"
+#include "hal.h"
+
+#if HAL_USE_TIMCAP || defined(__DOXYGEN__)
+
+#include "stm32_tim.h"
+#include "timcap.h"
+
+/*===========================================================================*/
+/* Driver local definitions.                                                 */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   TIMCAPD1 driver identifier.
+ * @note    The driver TIMCAPD1 allocates the complex timer TIM1 when enabled.
+ */
+#if STM32_TIMCAP_USE_TIM1 || defined(__DOXYGEN__)
+TIMCAPDriver TIMCAPD1;
+#endif
+
+/**
+ * @brief   TIMCAPD2 driver identifier.
+ * @note    The driver TIMCAPD1 allocates the timer TIM2 when enabled.
+ */
+#if STM32_TIMCAP_USE_TIM2 || defined(__DOXYGEN__)
+TIMCAPDriver TIMCAPD2;
+#endif
+
+/**
+ * @brief   TIMCAPD3 driver identifier.
+ * @note    The driver TIMCAPD1 allocates the timer TIM3 when enabled.
+ */
+#if STM32_TIMCAP_USE_TIM3 || defined(__DOXYGEN__)
+TIMCAPDriver TIMCAPD3;
+#endif
+
+/**
+ * @brief   TIMCAPD4 driver identifier.
+ * @note    The driver TIMCAPD4 allocates the timer TIM4 when enabled.
+ */
+#if STM32_TIMCAP_USE_TIM4 || defined(__DOXYGEN__)
+TIMCAPDriver TIMCAPD4;
+#endif
+
+/**
+ * @brief   TIMCAPD5 driver identifier.
+ * @note    The driver TIMCAPD5 allocates the timer TIM5 when enabled.
+ */
+#if STM32_TIMCAP_USE_TIM5 || defined(__DOXYGEN__)
+TIMCAPDriver TIMCAPD5;
+#endif
+
+/**
+ * @brief   TIMCAPD8 driver identifier.
+ * @note    The driver TIMCAPD8 allocates the timer TIM8 when enabled.
+ */
+#if STM32_TIMCAP_USE_TIM8 || defined(__DOXYGEN__)
+TIMCAPDriver TIMCAPD8;
+#endif
+
+/**
+ * @brief   TIMCAPD9 driver identifier.
+ * @note    The driver TIMCAPD9 allocates the timer TIM9 when enabled.
+ */
+#if STM32_TIMCAP_USE_TIM9 || defined(__DOXYGEN__)
+TIMCAPDriver TIMCAPD9;
+#endif
+
+/*===========================================================================*/
+/* Driver local variables and types.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+
+/**
+ * @brief   Returns the maximum channel number for the respective TIMCAP driver.
+ *          Note: different timer perepherials on the STM32 have between 1 and 4
+ *          CCR registers.
+ *
+ * @param[in] timcapp      pointer to the @p TIMCAPDriver object
+ */
+static timcapchannel_t timcap_get_max_timer_channel(const TIMCAPDriver *timcapp) {
+  //Choose a sane default value
+#if STM32_TIMCAP_USE_TIM1 || defined(__DOXYGEN__)
+  if( timcapp == &TIMCAPD1 ) {
+    return(TIMCAP_CHANNEL_4);
+  }
+#endif
+
+#if STM32_TIMCAP_USE_TIM2 || defined(__DOXYGEN__)
+  if( timcapp == &TIMCAPD2 ) {
+    return(TIMCAP_CHANNEL_4);
+  }
+#endif
+
+#if STM32_TIMCAP_USE_TIM3 || defined(__DOXYGEN__)
+  if( timcapp == &TIMCAPD3 ) {
+    return(TIMCAP_CHANNEL_4);
+  }
+#endif
+
+#if STM32_TIMCAP_USE_TIM4 || defined(__DOXYGEN__)
+  if( timcapp == &TIMCAPD4 ) {
+    return(TIMCAP_CHANNEL_4);
+  }
+#endif
+
+#if STM32_TIMCAP_USE_TIM5 || defined(__DOXYGEN__)
+  if( timcapp == &TIMCAPD5 ) {
+    return(TIMCAP_CHANNEL_4);
+  }
+#endif
+
+#if STM32_TIMCAP_USE_TIM8 || defined(__DOXYGEN__)
+  if( timcapp == &TIMCAPD8 ) {
+    return(TIMCAP_CHANNEL_4);
+  }
+#endif
+
+#if STM32_TIMCAP_USE_TIM9 || defined(__DOXYGEN__)
+  if( timcapp == &TIMCAPD9 ) {
+    return(TIMCAP_CHANNEL_2);
+  }
+#endif
+
+  /*Return a conservative default value.*/
+  return(TIMCAP_CHANNEL_1);
+}
+
+
+/**
+ * @brief   Returns the maximum value for the ARR register of a given timer.
+ *
+ * @param[in] timcapp      pointer to the @p TIMCAPDriver object
+ */
+static uint32_t timcap_get_max_arr(const TIMCAPDriver *timcapp) {
+  //Choose a sane default value
+#if STM32_TIMCAP_USE_TIM1 || defined(__DOXYGEN__)
+  if( timcapp == &TIMCAPD1 ) {
+    return(UINT16_MAX);
+  }
+#endif
+
+#if STM32_TIMCAP_USE_TIM2 || defined(__DOXYGEN__)
+  if( timcapp == &TIMCAPD2 ) {
+    return(UINT32_MAX);
+  }
+#endif
+
+#if STM32_TIMCAP_USE_TIM3 || defined(__DOXYGEN__)
+  if( timcapp == &TIMCAPD3 ) {
+    return(UINT16_MAX);
+  }
+#endif
+
+#if STM32_TIMCAP_USE_TIM4 || defined(__DOXYGEN__)
+  if( timcapp == &TIMCAPD4 ) {
+    return(UINT16_MAX);
+  }
+#endif
+
+#if STM32_TIMCAP_USE_TIM5 || defined(__DOXYGEN__)
+  if( timcapp == &TIMCAPD5 ) {
+    return(UINT32_MAX);
+  }
+#endif
+
+#if STM32_TIMCAP_USE_TIM8 || defined(__DOXYGEN__)
+  if( timcapp == &TIMCAPD8 ) {
+    return(UINT16_MAX);
+  }
+#endif
+
+#if STM32_TIMCAP_USE_TIM9 || defined(__DOXYGEN__)
+  if( timcapp == &TIMCAPD9 ) {
+    return(UINT16_MAX);
+  }
+#endif
+
+  /*Return a conservative default value.*/
+  return(UINT16_MAX);
+}
+
+/**
+ * @brief   Shared IRQ handler.
+ *
+ * @param[in] timcapp      pointer to the @p TIMCAPDriver object
+ */
+static void timcap_lld_serve_interrupt(TIMCAPDriver *timcapp) {
+  uint16_t sr;
+
+  sr  = timcapp->tim->SR;
+  sr &= timcapp->tim->DIER & STM32_TIM_DIER_IRQ_MASK;
+  timcapp->tim->SR = ~sr;
+
+  if ((sr & STM32_TIM_SR_CC1IF) != 0 && timcapp->config->capture_cb_array[TIMCAP_CHANNEL_1] != NULL )
+    _timcap_isr_invoke_channel1_cb(timcapp);
+
+  if ((sr & STM32_TIM_SR_CC2IF) != 0 && timcapp->config->capture_cb_array[TIMCAP_CHANNEL_2] != NULL )
+    _timcap_isr_invoke_channel2_cb(timcapp);
+
+  if ((sr & STM32_TIM_SR_CC3IF) != 0 && timcapp->config->capture_cb_array[TIMCAP_CHANNEL_3] != NULL )
+    _timcap_isr_invoke_channel3_cb(timcapp);
+
+  if ((sr & STM32_TIM_SR_CC4IF) != 0 && timcapp->config->capture_cb_array[TIMCAP_CHANNEL_4] != NULL )
+    _timcap_isr_invoke_channel4_cb(timcapp);
+
+  if ((sr & STM32_TIM_SR_UIF) != 0 && timcapp->config->overflow_cb != NULL)
+    _timcap_isr_invoke_overflow_cb(timcapp);
+}
+
+/*===========================================================================*/
+/* Driver interrupt handlers.                                                */
+/*===========================================================================*/
+
+#if STM32_TIMCAP_USE_TIM1
+#if !defined(STM32_TIM1_UP_HANDLER)
+#error "STM32_TIM1_UP_HANDLER not defined"
+#endif
+/**
+ * @brief   TIM1 compare interrupt handler.
+ * @note    It is assumed that the various sources are only activated if the
+ *          associated callback pointer is not equal to @p NULL in order to not
+ *          perform an extra check in a potentially critical interrupt handler.
+ *
+ * @isr
+ */
+CH_IRQ_HANDLER(STM32_TIM1_UP_HANDLER) {
+
+  CH_IRQ_PROLOGUE();
+
+  timcap_lld_serve_interrupt(&TIMCAPD1);
+
+  CH_IRQ_EPILOGUE();
+}
+
+#if !defined(STM32_TIM1_CC_HANDLER)
+#error "STM32_TIM1_CC_HANDLER not defined"
+#endif
+/**
+ * @brief   TIM1 compare interrupt handler.
+ * @note    It is assumed that the various sources are only activated if the
+ *          associated callback pointer is not equal to @p NULL in order to not
+ *          perform an extra check in a potentially critical interrupt handler.
+ *
+ * @isr
+ */
+CH_IRQ_HANDLER(STM32_TIM1_CC_HANDLER) {
+
+  CH_IRQ_PROLOGUE();
+
+  timcap_lld_serve_interrupt(&TIMCAPD1);
+
+  CH_IRQ_EPILOGUE();
+}
+#endif /* STM32_TIMCAP_USE_TIM1 */
+
+#if STM32_TIMCAP_USE_TIM2
+#if !defined(STM32_TIM2_HANDLER)
+#error "STM32_TIM2_HANDLER not defined"
+#endif
+/**
+ * @brief   TIM2 interrupt handler.
+ * @note    It is assumed that the various sources are only activated if the
+ *          associated callback pointer is not equal to @p NULL in order to not
+ *          perform an extra check in a potentially critical interrupt handler.
+ *
+ * @isr
+ */
+CH_IRQ_HANDLER(STM32_TIM2_HANDLER) {
+
+  CH_IRQ_PROLOGUE();
+
+  timcap_lld_serve_interrupt(&TIMCAPD2);
+
+  CH_IRQ_EPILOGUE();
+}
+#endif /* STM32_TIMCAP_USE_TIM2 */
+
+#if STM32_TIMCAP_USE_TIM3
+#if !defined(STM32_TIM3_HANDLER)
+#error "STM32_TIM3_HANDLER not defined"
+#endif
+/**
+ * @brief   TIM3 interrupt handler.
+ * @note    It is assumed that the various sources are only activated if the
+ *          associated callback pointer is not equal to @p NULL in order to not
+ *          perform an extra check in a potentially critical interrupt handler.
+ *
+ * @isr
+ */
+CH_IRQ_HANDLER(STM32_TIM3_HANDLER) {
+
+  CH_IRQ_PROLOGUE();
+
+  timcap_lld_serve_interrupt(&TIMCAPD3);
+
+  CH_IRQ_EPILOGUE();
+}
+#endif /* STM32_TIMCAP_USE_TIM3 */
+
+#if STM32_TIMCAP_USE_TIM4
+#if !defined(STM32_TIM4_HANDLER)
+#error "STM32_TIM4_HANDLER not defined"
+#endif
+/**
+ * @brief   TIM4 interrupt handler.
+ * @note    It is assumed that the various sources are only activated if the
+ *          associated callback pointer is not equal to @p NULL in order to not
+ *          perform an extra check in a potentially critical interrupt handler.
+ *
+ * @isr
+ */
+CH_IRQ_HANDLER(STM32_TIM4_HANDLER) {
+
+  CH_IRQ_PROLOGUE();
+
+  timcap_lld_serve_interrupt(&TIMCAPD4);
+
+  CH_IRQ_EPILOGUE();
+}
+#endif /* STM32_TIMCAP_USE_TIM4 */
+
+#if STM32_TIMCAP_USE_TIM5
+#if !defined(STM32_TIM5_HANDLER)
+#error "STM32_TIM5_HANDLER not defined"
+#endif
+/**
+ * @brief   TIM5 interrupt handler.
+ * @note    It is assumed that the various sources are only activated if the
+ *          associated callback pointer is not equal to @p NULL in order to not
+ *          perform an extra check in a potentially critical interrupt handler.
+ *
+ * @isr
+ */
+CH_IRQ_HANDLER(STM32_TIM5_HANDLER) {
+
+  CH_IRQ_PROLOGUE();
+
+  timcap_lld_serve_interrupt(&TIMCAPD5);
+
+  CH_IRQ_EPILOGUE();
+}
+#endif /* STM32_TIMCAP_USE_TIM5 */
+
+#if STM32_TIMCAP_USE_TIM8
+#if !defined(STM32_TIM8_UP_HANDLER)
+#error "STM32_TIM8_UP_HANDLER not defined"
+#endif
+/**
+ * @brief   TIM8 compare interrupt handler.
+ * @note    It is assumed that the various sources are only activated if the
+ *          associated callback pointer is not equal to @p NULL in order to not
+ *          perform an extra check in a potentially critical interrupt handler.
+ *
+ * @isr
+ */
+CH_IRQ_HANDLER(STM32_TIM8_UP_HANDLER) {
+
+  CH_IRQ_PROLOGUE();
+
+  timcap_lld_serve_interrupt(&TIMCAPD8);
+
+  CH_IRQ_EPILOGUE();
+}
+
+#if !defined(STM32_TIM8_CC_HANDLER)
+#error "STM32_TIM8_CC_HANDLER not defined"
+#endif
+/**
+ * @brief   TIM8 compare interrupt handler.
+ * @note    It is assumed that the various sources are only activated if the
+ *          associated callback pointer is not equal to @p NULL in order to not
+ *          perform an extra check in a potentially critical interrupt handler.
+ *
+ * @isr
+ */
+CH_IRQ_HANDLER(STM32_TIM8_CC_HANDLER) {
+
+  CH_IRQ_PROLOGUE();
+
+  timcap_lld_serve_interrupt(&TIMCAPD8);
+
+  CH_IRQ_EPILOGUE();
+}
+#endif /* STM32_TIMCAP_USE_TIM8 */
+
+#if STM32_TIMCAP_USE_TIM9
+#if !defined(STM32_TIM9_HANDLER)
+#error "STM32_TIM9_HANDLER not defined"
+#endif
+/**
+ * @brief   TIM9 interrupt handler.
+ * @note    It is assumed that the various sources are only activated if the
+ *          associated callback pointer is not equal to @p NULL in order to not
+ *          perform an extra check in a potentially critical interrupt handler.
+ *
+ * @isr
+ */
+CH_IRQ_HANDLER(STM32_TIM9_HANDLER) {
+
+  CH_IRQ_PROLOGUE();
+
+  timcap_lld_serve_interrupt(&TIMCAPD9);
+
+  CH_IRQ_EPILOGUE();
+}
+#endif /* STM32_TIMCAP_USE_TIM9 */
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   Low level TIMCAP driver initialization.
+ *
+ * @notapi
+ */
+void timcap_lld_init(void) {
+
+#if STM32_TIMCAP_USE_TIM1
+  /* Driver initialization.*/
+  timcapObjectInit(&TIMCAPD1);
+  TIMCAPD1.tim = STM32_TIM1;
+#endif
+
+#if STM32_TIMCAP_USE_TIM2
+  /* Driver initialization.*/
+  timcapObjectInit(&TIMCAPD2);
+  TIMCAPD2.tim = STM32_TIM2;
+#endif
+
+#if STM32_TIMCAP_USE_TIM3
+  /* Driver initialization.*/
+  timcapObjectInit(&TIMCAPD3);
+  TIMCAPD3.tim = STM32_TIM3;
+#endif
+
+#if STM32_TIMCAP_USE_TIM4
+  /* Driver initialization.*/
+  timcapObjectInit(&TIMCAPD4);
+  TIMCAPD4.tim = STM32_TIM4;
+#endif
+
+#if STM32_TIMCAP_USE_TIM5
+  /* Driver initialization.*/
+  timcapObjectInit(&TIMCAPD5);
+  TIMCAPD5.tim = STM32_TIM5;
+#endif
+
+#if STM32_TIMCAP_USE_TIM8
+  /* Driver initialization.*/
+  timcapObjectInit(&TIMCAPD8);
+  TIMCAPD8.tim = STM32_TIM8;
+#endif
+
+#if STM32_TIMCAP_USE_TIM9
+  /* Driver initialization.*/
+  timcapObjectInit(&TIMCAPD9);
+  TIMCAPD9.tim = STM32_TIM9;
+#endif
+}
+
+/**
+ * @brief   Configures and activates the TIMCAP peripheral.
+ *
+ * @param[in] timcapp      pointer to the @p TIMCAPDriver object
+ *
+ * @notapi
+ */
+void timcap_lld_start(TIMCAPDriver *timcapp) {
+  uint32_t psc;
+
+  const timcapchannel_t tim_max_channel = timcap_get_max_timer_channel(timcapp);
+
+  if (timcapp->state == TIMCAP_STOP) {
+    /* Clock activation and timer reset.*/
+#if STM32_TIMCAP_USE_TIM1
+    if (&TIMCAPD1 == timcapp) {
+      rccEnableTIM1(FALSE);
+      rccResetTIM1();
+      nvicEnableVector(STM32_TIM1_UP_NUMBER, STM32_TIMCAP_TIM1_IRQ_PRIORITY);
+      nvicEnableVector(STM32_TIM1_CC_NUMBER, STM32_TIMCAP_TIM1_IRQ_PRIORITY);
+#if defined(STM32_TIM1CLK)
+      timcapp->clock = STM32_TIM1CLK;
+#else
+      timcapp->clock = STM32_TIMCLK2;
+#endif
+    }
+#endif
+#if STM32_TIMCAP_USE_TIM2
+    if (&TIMCAPD2 == timcapp) {
+      rccEnableTIM2(FALSE);
+      rccResetTIM2();
+      nvicEnableVector(STM32_TIM2_NUMBER, STM32_TIMCAP_TIM2_IRQ_PRIORITY);
+      timcapp->clock = STM32_TIMCLK1;
+    }
+#endif
+#if STM32_TIMCAP_USE_TIM3
+    if (&TIMCAPD3 == timcapp) {
+      rccEnableTIM3(FALSE);
+      rccResetTIM3();
+      nvicEnableVector(STM32_TIM3_NUMBER, STM32_TIMCAP_TIM3_IRQ_PRIORITY);
+      timcapp->clock = STM32_TIMCLK1;
+    }
+#endif
+#if STM32_TIMCAP_USE_TIM4
+    if (&TIMCAPD4 == timcapp) {
+      rccEnableTIM4(FALSE);
+      rccResetTIM4();
+      nvicEnableVector(STM32_TIM4_NUMBER, STM32_TIMCAP_TIM4_IRQ_PRIORITY);
+      timcapp->clock = STM32_TIMCLK1;
+    }
+#endif
+#if STM32_TIMCAP_USE_TIM5
+    if (&TIMCAPD5 == timcapp) {
+      rccEnableTIM5(FALSE);
+      rccResetTIM5();
+      nvicEnableVector(STM32_TIM5_NUMBER, STM32_TIMCAP_TIM5_IRQ_PRIORITY);
+      timcapp->clock = STM32_TIMCLK1;
+    }
+#endif
+#if STM32_TIMCAP_USE_TIM8
+    if (&TIMCAPD8 == timcapp) {
+      rccEnableTIM8(FALSE);
+      rccResetTIM8();
+      nvicEnableVector(STM32_TIM8_UP_NUMBER, STM32_TIMCAP_TIM8_IRQ_PRIORITY);
+      nvicEnableVector(STM32_TIM8_CC_NUMBER, STM32_TIMCAP_TIM8_IRQ_PRIORITY);
+#if defined(STM32_TIM8CLK)
+      timcapp->clock = STM32_TIM8CLK;
+#else
+      timcapp->clock = STM32_TIMCLK2;
+#endif
+    }
+#endif
+#if STM32_TIMCAP_USE_TIM9
+    if (&TIMCAPD9 == timcapp) {
+      rccEnableTIM9(FALSE);
+      rccResetTIM9();
+      nvicEnableVector(STM32_TIM9_NUMBER, STM32_TIMCAP_TIM9_IRQ_PRIORITY);
+      timcapp->clock = STM32_TIMCLK1;
+    }
+#endif
+  }
+  else {
+    /* Driver re-configuration scenario, it must be stopped first.*/
+    timcapp->tim->CR1    = 0;                  /* Timer disabled.              */
+    timcapp->tim->DIER   = timcapp->config->dier &/* DMA-related DIER settings.   */
+                        ~STM32_TIM_DIER_IRQ_MASK;
+    timcapp->tim->SR     = 0;                  /* Clear eventual pending IRQs. */
+    timcapp->tim->CCR[0] = 0;                  /* Comparator 1 disabled.       */
+    timcapp->tim->CCR[1] = 0;                  /* Comparator 2 disabled.       */
+    if( tim_max_channel >= TIMCAP_CHANNEL_3 )
+      timcapp->tim->CCR[2] = 0;                /* Comparator 3 disabled.       */
+    if( tim_max_channel >= TIMCAP_CHANNEL_4 )
+      timcapp->tim->CCR[3] = 0;                /* Comparator 4 disabled.       */
+    timcapp->tim->CNT    = 0;                  /* Counter reset to zero.       */
+  }
+
+  /* Timer configuration.*/
+  psc = (timcapp->clock / timcapp->config->frequency) - 1;
+  osalDbgAssert((psc <= 0xFFFF) &&
+              ((psc + 1) * timcapp->config->frequency) == timcapp->clock,
+              "invalid frequency");
+  timcapp->tim->PSC  = (uint16_t)psc;
+  timcapp->tim->ARR = timcap_get_max_arr(timcapp);
+
+  timcapp->tim->CCMR1 = 0;
+  timcapp->tim->CCMR2 = 0;
+  timcapp->tim->CCER = 0;
+
+  timcapchannel_t chan = TIMCAP_CHANNEL_1;
+
+  /*go through each non-NULL callback channel and enable the capture register on rising/falling edge*/
+  for( chan = TIMCAP_CHANNEL_1; chan <= tim_max_channel; chan++ ) {
+    if( timcapp->config->capture_cb_array[chan] == NULL ) {
+      continue;
+    }
+
+    switch (chan) {
+      case TIMCAP_CHANNEL_1:
+        /*CCMR1_CC1S = 01 = CH1 Input on TI1.*/
+        timcapp->tim->CCMR1 |= STM32_TIM_CCMR1_CC1S(1);
+        break;
+      case TIMCAP_CHANNEL_2:
+        /*CCMR1_CC2S = 10 = CH2 Input on TI1.*/
+        timcapp->tim->CCMR1 |= STM32_TIM_CCMR1_CC2S(1);
+        break;
+      case TIMCAP_CHANNEL_3:
+        timcapp->tim->CCMR2 |= STM32_TIM_CCMR2_CC3S(1);
+        break;
+      case TIMCAP_CHANNEL_4:
+        timcapp->tim->CCMR2 |= STM32_TIM_CCMR2_CC4S(1);
+        break;
+    }
+
+    /* The CCER settings depend on the selected trigger mode.
+       TIMCAP_INPUT_DISABLED: Input not used.
+       TIMCAP_INPUT_ACTIVE_HIGH: Active on rising edge, idle on falling edge.
+       TIMCAP_INPUT_ACTIVE_LOW:  Active on falling edge, idle on rising edge.*/
+    if (timcapp->config->modes[chan] == TIMCAP_INPUT_ACTIVE_HIGH) {
+      switch (chan) {
+        case TIMCAP_CHANNEL_1:
+          timcapp->tim->CCER |= STM32_TIM_CCER_CC1E;
+          break;
+        case TIMCAP_CHANNEL_2:
+          timcapp->tim->CCER |= STM32_TIM_CCER_CC2E;
+          break;
+        case TIMCAP_CHANNEL_3:
+          timcapp->tim->CCER |= STM32_TIM_CCER_CC3E;
+          break;
+        case TIMCAP_CHANNEL_4:
+          timcapp->tim->CCER |= STM32_TIM_CCER_CC4E;
+          break;
+      }
+    }
+    else if (timcapp->config->modes[chan] == TIMCAP_INPUT_ACTIVE_LOW) {
+      switch (chan) {
+        case TIMCAP_CHANNEL_1:
+          timcapp->tim->CCER |= STM32_TIM_CCER_CC1E | STM32_TIM_CCER_CC1P;
+          break;
+        case TIMCAP_CHANNEL_2:
+          timcapp->tim->CCER |= STM32_TIM_CCER_CC2E | STM32_TIM_CCER_CC2P;
+          break;
+        case TIMCAP_CHANNEL_3:
+          timcapp->tim->CCER |= STM32_TIM_CCER_CC3E | STM32_TIM_CCER_CC3P;
+          break;
+        case TIMCAP_CHANNEL_4:
+          timcapp->tim->CCER |= STM32_TIM_CCER_CC4E | STM32_TIM_CCER_CC4P;
+          break;
+      }
+    }
+    else {
+      switch (chan) {
+        case TIMCAP_CHANNEL_1:
+          timcapp->tim->CCER &= ~STM32_TIM_CCER_CC1E;
+          break;
+        case TIMCAP_CHANNEL_2:
+          timcapp->tim->CCER &= ~STM32_TIM_CCER_CC2E;
+          break;
+        case TIMCAP_CHANNEL_3:
+          timcapp->tim->CCER &= ~STM32_TIM_CCER_CC3E;
+          break;
+        case TIMCAP_CHANNEL_4:
+          timcapp->tim->CCER &= ~STM32_TIM_CCER_CC4E;
+          break;
+      }
+    }
+    /* Direct pointers to the capture registers in order to make reading
+         data faster from within callbacks.*/
+    timcapp->ccr_p[chan] = &timcapp->tim->CCR[chan];
+  }
+
+  /* SMCR_TS  = 101, input is TI1FP1.*/
+  timcapp->tim->SMCR  = STM32_TIM_SMCR_TS(5);
+}
+
+/**
+ * @brief   Deactivates the TIMCAP peripheral.
+ *
+ * @param[in] timcapp      pointer to the @p TIMCAPDriver object
+ *
+ * @notapi
+ */
+void timcap_lld_stop(TIMCAPDriver *timcapp) {
+
+  if (timcapp->state == TIMCAP_READY) {
+    /* Clock deactivation.*/
+    timcapp->tim->CR1  = 0;                    /* Timer disabled.              */
+    timcapp->tim->DIER = 0;                    /* All IRQs disabled.           */
+    timcapp->tim->SR   = 0;                    /* Clear eventual pending IRQs. */
+
+#if STM32_TIMCAP_USE_TIM1
+    if (&TIMCAPD1 == timcapp) {
+      nvicDisableVector(STM32_TIM1_UP_NUMBER);
+      nvicDisableVector(STM32_TIM1_CC_NUMBER);
+      rccDisableTIM1(FALSE);
+    }
+#endif
+#if STM32_TIMCAP_USE_TIM2
+    if (&TIMCAPD2 == timcapp) {
+      nvicDisableVector(STM32_TIM2_NUMBER);
+      rccDisableTIM2(FALSE);
+    }
+#endif
+#if STM32_TIMCAP_USE_TIM3
+    if (&TIMCAPD3 == timcapp) {
+      nvicDisableVector(STM32_TIM3_NUMBER);
+      rccDisableTIM3(FALSE);
+    }
+#endif
+#if STM32_TIMCAP_USE_TIM4
+    if (&TIMCAPD4 == timcapp) {
+      nvicDisableVector(STM32_TIM4_NUMBER);
+      rccDisableTIM4(FALSE);
+    }
+#endif
+#if STM32_TIMCAP_USE_TIM5
+    if (&TIMCAPD5 == timcapp) {
+      nvicDisableVector(STM32_TIM5_NUMBER);
+      rccDisableTIM5(FALSE);
+    }
+#endif
+#if STM32_TIMCAP_USE_TIM8
+    if (&TIMCAPD8 == timcapp) {
+      nvicDisableVector(STM32_TIM8_UP_NUMBER);
+      nvicDisableVector(STM32_TIM8_CC_NUMBER);
+      rccDisableTIM8(FALSE);
+    }
+#endif
+#if STM32_TIMCAP_USE_TIM9
+    if (&TIMCAPD9 == timcapp) {
+      nvicDisableVector(STM32_TIM9_NUMBER);
+      rccDisableTIM9(FALSE);
+    }
+#endif
+  }
+}
+
+/**
+ * @brief   Enables the input capture.
+ *
+ * @param[in] timcapp      pointer to the @p TIMCAPDriver object
+ *
+ * @notapi
+ */
+void timcap_lld_enable(TIMCAPDriver *timcapp) {
+
+  timcapp->tim->EGR |= STM32_TIM_EGR_UG;
+  timcapp->tim->SR = 0;                        /* Clear pending IRQs (if any). */
+
+  timcapchannel_t chan = TIMCAP_CHANNEL_1;
+  const timcapchannel_t tim_max_channel = timcap_get_max_timer_channel(timcapp);
+  for( chan = TIMCAP_CHANNEL_1; chan <= tim_max_channel; chan++ ) {
+    if( timcapp->config->capture_cb_array[chan] != NULL 
+      && timcapp->config->modes[chan] != TIMCAP_INPUT_DISABLED ) {
+      switch (chan) {
+        case TIMCAP_CHANNEL_1:
+          timcapp->tim->DIER |= STM32_TIM_DIER_CC1IE;
+          break;
+        case TIMCAP_CHANNEL_2:
+          timcapp->tim->DIER |= STM32_TIM_DIER_CC2IE;
+          break;
+        case TIMCAP_CHANNEL_3:
+          timcapp->tim->DIER |= STM32_TIM_DIER_CC3IE;
+          break;
+        case TIMCAP_CHANNEL_4:
+          timcapp->tim->DIER |= STM32_TIM_DIER_CC4IE;
+          break;
+      }
+    }
+  }
+
+  if (timcapp->config->overflow_cb != NULL)
+    timcapp->tim->DIER |= STM32_TIM_DIER_UIE;
+  
+  timcapp->tim->CR1 = STM32_TIM_CR1_URS | STM32_TIM_CR1_CEN | timcapp->config->cr1;
+}
+
+/**
+ * @brief   Disables the input capture.
+ *
+ * @param[in] timcapp      pointer to the @p TIMCAPDriver object
+ *
+ * @notapi
+ */
+void timcap_lld_disable(TIMCAPDriver *timcapp) {
+
+  timcapp->tim->CR1   = 0;                     /* Initially stopped.           */
+  timcapp->tim->SR    = 0;                     /* Clear pending IRQs (if any). */
+
+  /* All interrupts disabled.*/
+  timcapp->tim->DIER &= ~STM32_TIM_DIER_IRQ_MASK;
+}
+
+#endif /* HAL_USE_TIMCAP */
+
+/** @} */
diff --git a/os/hal/ports/STM32/LLD/TIMv1/timcap_lld.h b/os/hal/ports/STM32/LLD/TIMv1/timcap_lld.h
new file mode 100644
index 0000000..d39c438
--- /dev/null
+++ b/os/hal/ports/STM32/LLD/TIMv1/timcap_lld.h
@@ -0,0 +1,390 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
+
+    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    STM32/timcap_lld.h
+ * @brief   STM32 TIMCAP subsystem low level driver header.
+ *
+ * @addtogroup TIMCAP
+ * @{
+ */
+
+#ifndef _TIMCAP_LLD_H_
+#define _TIMCAP_LLD_H_
+
+#include "ch.h"
+#include "hal.h"
+#include "stm32_tim.h"
+
+
+#if HAL_USE_TIMCAP || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants.                                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @name    Configuration options
+ * @{
+ */
+/**
+ * @brief   TIMCAPD1 driver enable switch.
+ * @details If set to @p TRUE the support for TIMCAPD1 is included.
+ * @note    The default is @p TRUE.
+ */
+#if !defined(STM32_TIMCAP_USE_TIM1) || defined(__DOXYGEN__)
+#define STM32_TIMCAP_USE_TIM1                  FALSE
+#endif
+
+/**
+ * @brief   TIMCAPD2 driver enable switch.
+ * @details If set to @p TRUE the support for TIMCAPD2 is included.
+ * @note    The default is @p TRUE.
+ */
+#if !defined(STM32_TIMCAP_USE_TIM2) || defined(__DOXYGEN__)
+#define STM32_TIMCAP_USE_TIM2                  FALSE
+#endif
+
+/**
+ * @brief   TIMCAPD3 driver enable switch.
+ * @details If set to @p TRUE the support for TIMCAPD3 is included.
+ * @note    The default is @p TRUE.
+ */
+#if !defined(STM32_TIMCAP_USE_TIM3) || defined(__DOXYGEN__)
+#define STM32_TIMCAP_USE_TIM3                  FALSE
+#endif
+
+/**
+ * @brief   TIMCAPD4 driver enable switch.
+ * @details If set to @p TRUE the support for TIMCAPD4 is included.
+ * @note    The default is @p TRUE.
+ */
+#if !defined(STM32_TIMCAP_USE_TIM4) || defined(__DOXYGEN__)
+#define STM32_TIMCAP_USE_TIM4                  FALSE
+#endif
+
+/**
+ * @brief   TIMCAPD5 driver enable switch.
+ * @details If set to @p TRUE the support for TIMCAPD5 is included.
+ * @note    The default is @p TRUE.
+ */
+#if !defined(STM32_TIMCAP_USE_TIM5) || defined(__DOXYGEN__)
+#define STM32_TIMCAP_USE_TIM5                  FALSE
+#endif
+
+/**
+ * @brief   TIMCAPD8 driver enable switch.
+ * @details If set to @p TRUE the support for TIMCAPD8 is included.
+ * @note    The default is @p TRUE.
+ */
+#if !defined(STM32_TIMCAP_USE_TIM8) || defined(__DOXYGEN__)
+#define STM32_TIMCAP_USE_TIM8                  FALSE
+#endif
+
+/**
+ * @brief   TIMCAPD9 driver enable switch.
+ * @details If set to @p TRUE the support for TIMCAPD9 is included.
+ * @note    The default is @p TRUE.
+ */
+#if !defined(STM32_TIMCAP_USE_TIM9) || defined(__DOXYGEN__)
+#define STM32_TIMCAP_USE_TIM9                  FALSE
+#endif
+
+/**
+ * @brief   TIMCAPD1 interrupt priority level setting.
+ */
+#if !defined(STM32_TIMCAP_TIM1_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define STM32_TIMCAP_TIM1_IRQ_PRIORITY         7
+#endif
+
+/**
+ * @brief   TIMCAPD2 interrupt priority level setting.
+ */
+#if !defined(STM32_TIMCAP_TIM2_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define STM32_TIMCAP_TIM2_IRQ_PRIORITY         7
+#endif
+
+/**
+ * @brief   TIMCAPD3 interrupt priority level setting.
+ */
+#if !defined(STM32_TIMCAP_TIM3_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define STM32_TIMCAP_TIM3_IRQ_PRIORITY         7
+#endif
+
+/**
+ * @brief   TIMCAPD4 interrupt priority level setting.
+ */
+#if !defined(STM32_TIMCAP_TIM4_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define STM32_TIMCAP_TIM4_IRQ_PRIORITY         7
+#endif
+
+/**
+ * @brief   TIMCAPD5 interrupt priority level setting.
+ */
+#if !defined(STM32_TIMCAP_TIM5_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define STM32_TIMCAP_TIM5_IRQ_PRIORITY         7
+#endif
+
+/**
+ * @brief   TIMCAPD8 interrupt priority level setting.
+ */
+#if !defined(STM32_TIMCAP_TIM8_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define STM32_TIMCAP_TIM8_IRQ_PRIORITY         7
+#endif
+
+/**
+ * @brief   TIMCAPD9 interrupt priority level setting.
+ */
+#if !defined(STM32_TIMCAP_TIM9_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define STM32_TIMCAP_TIM9_IRQ_PRIORITY         7
+#endif
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+#if STM32_TIMCAP_USE_TIM1 && !STM32_HAS_TIM1
+#error "TIM1 not present in the selected device"
+#endif
+
+#if STM32_TIMCAP_USE_TIM2 && !STM32_HAS_TIM2
+#error "TIM2 not present in the selected device"
+#endif
+
+#if STM32_TIMCAP_USE_TIM3 && !STM32_HAS_TIM3
+#error "TIM3 not present in the selected device"
+#endif
+
+#if STM32_TIMCAP_USE_TIM4 && !STM32_HAS_TIM4
+#error "TIM4 not present in the selected device"
+#endif
+
+#if STM32_TIMCAP_USE_TIM5 && !STM32_HAS_TIM5
+#error "TIM5 not present in the selected device"
+#endif
+
+#if STM32_TIMCAP_USE_TIM8 && !STM32_HAS_TIM8
+#error "TIM8 not present in the selected device"
+#endif
+
+#if STM32_TIMCAP_USE_TIM9 && !STM32_HAS_TIM9
+#error "TIM9 not present in the selected device"
+#endif
+
+#if !STM32_TIMCAP_USE_TIM1 && !STM32_TIMCAP_USE_TIM2 &&                           \
+    !STM32_TIMCAP_USE_TIM3 && !STM32_TIMCAP_USE_TIM4 &&                           \
+    !STM32_TIMCAP_USE_TIM5 && !STM32_TIMCAP_USE_TIM8 &&                           \
+    !STM32_TIMCAP_USE_TIM9
+#error "TIMCAP driver activated but no TIM peripheral assigned"
+#endif
+
+#if STM32_TIMCAP_USE_TIM1 &&                                                   \
+    !OSAL_IRQ_IS_VALID_PRIORITY(STM32_TIMCAP_TIM1_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to TIM1"
+#endif
+
+#if STM32_TIMCAP_USE_TIM2 &&                                                   \
+    !OSAL_IRQ_IS_VALID_PRIORITY(STM32_TIMCAP_TIM2_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to TIM2"
+#endif
+
+#if STM32_TIMCAP_USE_TIM3 &&                                                   \
+    !OSAL_IRQ_IS_VALID_PRIORITY(STM32_TIMCAP_TIM3_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to TIM3"
+#endif
+
+#if STM32_TIMCAP_USE_TIM4 &&                                                   \
+    !OSAL_IRQ_IS_VALID_PRIORITY(STM32_TIMCAP_TIM4_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to TIM4"
+#endif
+
+#if STM32_TIMCAP_USE_TIM5 &&                                                   \
+    !OSAL_IRQ_IS_VALID_PRIORITY(STM32_TIMCAP_TIM5_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to TIM5"
+#endif
+
+#if STM32_TIMCAP_USE_TIM8 &&                                                   \
+    !OSAL_IRQ_IS_VALID_PRIORITY(STM32_TIMCAP_TIM8_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to TIM8"
+#endif
+
+#if STM32_TIMCAP_USE_TIM9 &&                                                   \
+    !OSAL_IRQ_IS_VALID_PRIORITY(STM32_TIMCAP_TIM9_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to TIM9"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   TIMCAP driver mode.
+ */
+typedef enum {
+  TIMCAP_INPUT_DISABLED = 0,
+  TIMCAP_INPUT_ACTIVE_HIGH = 1,        /**< Trigger on rising edge.            */
+  TIMCAP_INPUT_ACTIVE_LOW = 2,         /**< Trigger on falling edge.           */
+} timcapmode_t;
+
+/**
+ * @brief   TIMCAP frequency type.
+ */
+typedef uint32_t timcapfreq_t;
+
+/**
+ * @brief   TIMCAP channel type.
+ */
+typedef enum {
+  TIMCAP_CHANNEL_1 = 0,              /**< Use TIMxCH1.      */
+  TIMCAP_CHANNEL_2 = 1,              /**< Use TIMxCH2.      */
+  TIMCAP_CHANNEL_3 = 2,              /**< Use TIMxCH3.      */
+  TIMCAP_CHANNEL_4 = 3,              /**< Use TIMxCH4.      */
+} timcapchannel_t;
+
+
+/**
+ * @brief   Driver configuration structure.
+ * @note    It could be empty on some architectures.
+ */
+typedef struct {
+  /**
+   * @brief   Driver mode.
+   */
+  timcapmode_t                 modes[4];
+  /**
+   * @brief   Timer clock in Hz.
+   * @note    The low level can use assertions in order to catch invalid
+   *          frequency specifications.
+   */
+  timcapfreq_t                 frequency;
+
+  /**
+   * @brief   Callback when a capture occurs
+   */
+  timcapcallback_t             capture_cb_array[4];
+
+  /**
+   * @brief   Callback for timer overflow.
+   */
+  timcapcallback_t             overflow_cb;
+
+  /* End of the mandatory fields.*/
+
+  /**
+   * @brief TIM DIER register initialization data.
+   * @note  The value of this field should normally be equal to zero.
+   * @note  Only the DMA-related bits can be specified in this field.
+   */
+  uint32_t                  dier;
+  
+  /**
+   * @brief TIM CR1 register initialization data.
+   * @note  The value of this field should normally be equal to zero.
+   */
+  uint32_t                  cr1;
+} TIMCAPConfig;
+
+/**
+ * @brief   Structure representing an TIMCAP driver.
+ */
+struct TIMCAPDriver {
+  /**
+   * @brief Driver state.
+   */
+  timcapstate_t                state;
+  /**
+   * @brief Current configuration data.
+   */
+  const TIMCAPConfig           *config;
+#if defined(TIMCAP_DRIVER_EXT_FIELDS)
+  TIMCAP_DRIVER_EXT_FIELDS
+#endif
+  /* End of the mandatory fields.*/
+  /**
+   * @brief Timer base clock.
+   */
+  uint32_t                  clock;
+  /**
+   * @brief Pointer to the TIMx registers block.
+   */
+  stm32_tim_t               *tim;
+  /**
+   * @brief CCR register used for capture.
+   */
+  volatile uint32_t         *ccr_p[4];
+};
+
+/*===========================================================================*/
+/* Driver macros.                                                            */
+/*===========================================================================*/
+
+//FIXME document this
+#define timcap_lld_get_ccr(timcapp, channel) (*((timcapp)->ccr_p[channel]) + 1)
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#if STM32_TIMCAP_USE_TIM1 && !defined(__DOXYGEN__)
+extern TIMCAPDriver TIMCAPD1;
+#endif
+
+#if STM32_TIMCAP_USE_TIM2 && !defined(__DOXYGEN__)
+extern TIMCAPDriver TIMCAPD2;
+#endif
+
+#if STM32_TIMCAP_USE_TIM3 && !defined(__DOXYGEN__)
+extern TIMCAPDriver TIMCAPD3;
+#endif
+
+#if STM32_TIMCAP_USE_TIM4 && !defined(__DOXYGEN__)
+extern TIMCAPDriver TIMCAPD4;
+#endif
+
+#if STM32_TIMCAP_USE_TIM5 && !defined(__DOXYGEN__)
+extern TIMCAPDriver TIMCAPD5;
+#endif
+
+#if STM32_TIMCAP_USE_TIM8 && !defined(__DOXYGEN__)
+extern TIMCAPDriver TIMCAPD8;
+#endif
+
+#if STM32_TIMCAP_USE_TIM9 && !defined(__DOXYGEN__)
+extern TIMCAPDriver TIMCAPD9;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void timcap_lld_init(void);
+  void timcap_lld_start(TIMCAPDriver *timcapp);
+  void timcap_lld_stop(TIMCAPDriver *timcapp);
+  void timcap_lld_enable(TIMCAPDriver *timcapp);
+  void timcap_lld_disable(TIMCAPDriver *timcapp);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_TIMCAP */
+
+#endif /* _TIMCAP_LLD_H_ */
+
+/** @} */
diff --git a/os/hal/ports/STM32/STM32F0xx/platform.mk b/os/hal/ports/STM32/STM32F0xx/platform.mk
index f7464ff..1dff83a 100644
--- a/os/hal/ports/STM32/STM32F0xx/platform.mk
+++ b/os/hal/ports/STM32/STM32F0xx/platform.mk
@@ -1,6 +1,8 @@
 include ${CHIBIOS}/os/hal/ports/STM32/STM32F0xx/platform.mk
 
-PLATFORMSRC += ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/CRCv1/crc_lld.c
+PLATFORMSRC += ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/CRCv1/crc_lld.c \
+               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/TIMv1/timcap_lld.c \
 
 PLATFORMINC += ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/CRCv1 \
+               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/TIMv1 \
                ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD
diff --git a/os/hal/ports/STM32/STM32F3xx/platform.mk b/os/hal/ports/STM32/STM32F3xx/platform.mk
new file mode 100644
index 0000000..e98de86
--- /dev/null
+++ b/os/hal/ports/STM32/STM32F3xx/platform.mk
@@ -0,0 +1,9 @@
+include ${CHIBIOS}/os/hal/ports/STM32/STM32F3xx/platform.mk
+
+PLATFORMSRC += ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/CRCv1/crc_lld.c \
+               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/TIMv1/eicu_lld.c \
+               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/TIMv1/timcap_lld.c
+
+PLATFORMINC += ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/CRCv1 \
+               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/TIMv1 \
+               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD
diff --git a/os/hal/ports/STM32/STM32F4xx/platform.mk b/os/hal/ports/STM32/STM32F4xx/platform.mk
index 26df211..5ffc9dd 100644
--- a/os/hal/ports/STM32/STM32F4xx/platform.mk
+++ b/os/hal/ports/STM32/STM32F4xx/platform.mk
@@ -6,12 +6,15 @@ PLATFORMSRC += ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/DMA2Dv1/stm32_dma2d.c \
                ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/FSMCv1/fsmc_sram.c \

                ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/LTDCv1/stm32_ltdc.c \

                ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/TIMv1/eicu_lld.c \

-	       ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/USBHv1/usbh_lld.c \

-               ${CHIBIOS_CONTRIB}/os/hal/src/fsmc_sdram.c

+               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/TIMv1/timcap_lld.c \

+	           ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/USBHv1/usbh_lld.c \

+               ${CHIBIOS_CONTRIB}/os/hal/src/fsmc_sdram.c \

+               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/CRCv1/crc_lld.c

 

 PLATFORMINC += ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/DMA2Dv1 \

                ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/FSMCv1 \

                ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/LTDCv1 \

                ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/TIMv1 \

-	       ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/USBHv1 \

+	           ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/USBHv1 \

+	           ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/CRCv1 \

                ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD

diff --git a/os/hal/src/hal_community.c b/os/hal/src/hal_community.c
index a05e70f..237386b 100644
--- a/os/hal/src/hal_community.c
+++ b/os/hal/src/hal_community.c
@@ -68,6 +68,10 @@ void halCommunityInit(void) {
 #if HAL_USE_USBH || defined(__DOXYGEN__)

   usbhInit();

 #endif

+

+#if HAL_USE_TIMCAP || defined(__DOXYGEN__)

+  timcapInit();

+#endif

 }

 

 #endif /* HAL_USE_COMMUNITY */

diff --git a/os/hal/src/timcap.c b/os/hal/src/timcap.c
new file mode 100644
index 0000000..6ee97ad
--- /dev/null
+++ b/os/hal/src/timcap.c
@@ -0,0 +1,159 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+                 2011,2012,2013 Giovanni Di Sirio.
+
+    This file is part of ChibiOS/RT.
+
+    ChibiOS/RT is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 3 of the License, or
+    (at your option) any later version.
+
+    ChibiOS/RT is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file    timcap.c
+ * @brief   TIMCAP Driver code.
+ *
+ * @addtogroup TIMCAP
+ * @{
+ */
+
+#include "timcap.h"
+
+#if HAL_USE_TIMCAP || defined(__DOXYGEN__)
+
+
+/*===========================================================================*/
+/* Driver local definitions.                                                 */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   TIMCAP Driver initialization.
+ * @note    This function is implicitly invoked by @p halInit(), there is
+ *          no need to explicitly initialize the driver.
+ *
+ * @init
+ */
+void timcapInit(void) {
+
+  timcap_lld_init();
+}
+
+/**
+ * @brief   Initializes the standard part of a @p TIMCAPDriver structure.
+ *
+ * @param[out] timcapp     pointer to the @p TIMCAPDriver object
+ *
+ * @init
+ */
+void timcapObjectInit(TIMCAPDriver *timcapp) {
+
+  timcapp->state  = TIMCAP_STOP;
+  timcapp->config = NULL;
+}
+
+/**
+ * @brief   Configures and activates the TIMCAP peripheral.
+ *
+ * @param[in] timcapp      pointer to the @p TIMCAPDriver object
+ * @param[in] config    pointer to the @p TIMCAPConfig object
+ *
+ * @api
+ */
+void timcapStart(TIMCAPDriver *timcapp, const TIMCAPConfig *config) {
+
+  osalDbgCheck((timcapp != NULL) && (config != NULL));
+
+  osalSysLock();
+  osalDbgAssert((timcapp->state == TIMCAP_STOP) || (timcapp->state == TIMCAP_READY),
+              "invalid state");
+  timcapp->config = config;
+  timcap_lld_start(timcapp);
+  timcapp->state = TIMCAP_READY;
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Deactivates the TIMCAP peripheral.
+ *
+ * @param[in] timcapp      pointer to the @p TIMCAPDriver object
+ *
+ * @api
+ */
+void timcapStop(TIMCAPDriver *timcapp) {
+
+  osalDbgCheck(timcapp != NULL);
+
+  osalSysLock();
+  osalDbgAssert((timcapp->state == TIMCAP_STOP) || (timcapp->state == TIMCAP_READY),
+              "invalid state");
+  timcap_lld_stop(timcapp);
+  timcapp->state = TIMCAP_STOP;
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Enables the input capture.
+ *
+ * @param[in] timcapp      pointer to the @p TIMCAPDriver object
+ *
+ * @api
+ */
+void timcapEnable(TIMCAPDriver *timcapp) {
+
+  osalDbgCheck(timcapp != NULL);
+
+  osalSysLock();
+  osalDbgAssert(timcapp->state == TIMCAP_READY, "invalid state");
+  timcap_lld_enable(timcapp);
+  timcapp->state = TIMCAP_WAITING;
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Disables the input capture.
+ *
+ * @param[in] timcapp      pointer to the @p TIMCAPDriver object
+ *
+ * @api
+ */
+void timcapDisable(TIMCAPDriver *timcapp) {
+
+  osalDbgCheck(timcapp != NULL);
+
+  osalSysLock();
+  osalDbgAssert((timcapp->state == TIMCAP_READY) || (timcapp->state == TIMCAP_WAITING) ||
+              (timcapp->state == TIMCAP_ACTIVE) || (timcapp->state == TIMCAP_IDLE),
+             "invalid state");
+  timcap_lld_disable(timcapp);
+  timcapp->state = TIMCAP_READY;
+  osalSysUnlock();
+}
+
+#endif /* HAL_USE_TIMCAP */
+
+/** @} */