Merge pull request #112 from fpoussin/comparator

Comparator Driver

8 files changed, 1301 insertions, 1 deletions

diff --git a/os/hal/hal.mk b/os/hal/hal.mk
index f05ddbc..79e501e 100644
--- a/os/hal/hal.mk
+++ b/os/hal/hal.mk
@@ -19,6 +19,7 @@ HALSRC += ${CHIBIOS_CONTRIB}/os/hal/src/hal_community.c \
           ${CHIBIOS_CONTRIB}/os/hal/src/hal_timcap.c \

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

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

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

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

+          ${CHIBIOS_CONTRIB}/os/hal/src/hal_comp.c

 

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

diff --git a/os/hal/include/hal_community.h b/os/hal/include/hal_community.h
index 430df7c..cdedad6 100644
--- a/os/hal/include/hal_community.h
+++ b/os/hal/include/hal_community.h
@@ -71,6 +71,10 @@
 #define HAL_USE_USB_MSD                     FALSE

 #endif

 

+#if !defined(HAL_USE_COMP)

+#define HAL_USE_COMP                        FALSE

+#endif

+

 /* Abstract interfaces.*/

 

 /* Shared headers.*/

@@ -82,6 +86,7 @@
 #include "hal_usbh.h"

 #include "hal_timcap.h"

 #include "hal_qei.h"

+#include "hal_comp.h"

 

 /* Complex drivers.*/

 #include "hal_onewire.h"

diff --git a/os/hal/include/hal_comp.h b/os/hal/include/hal_comp.h
new file mode 100644
index 0000000..835704d
--- /dev/null
+++ b/os/hal/include/hal_comp.h
@@ -0,0 +1,131 @@
+/*
+    ChibiOS - Copyright (C) 2006..2017 Giovanni Di Sirio
+              Copyright (C) 2017 Fabien Poussin (fabien.poussin (at) google's mail)
+
+    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.
+*/
+
+#ifndef HAL_COMP_H_
+#define HAL_COMP_H_
+
+#include "hal.h"
+
+
+#if (HAL_USE_COMP == TRUE) || 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 {
+  COMP_UNINIT = 0,                   /**< Not initialized.                   */
+  COMP_STOP = 1,                     /**< Stopped.                           */
+  COMP_READY = 2,                    /**< Ready.                             */
+  COMP_ACTIVE = 3,                   /**< Active cycle phase.                */
+} compstate_t;
+
+/**
+ * @brief   Type of a structure representing an COMP driver.
+ */
+typedef struct COMPDriver COMPDriver;
+
+/**
+ * @brief   COMP notification callback type.
+ *
+ * @param[in] comp      pointer to a @p COMPDriver object
+ */
+typedef void (*compcallback_t)(COMPDriver *comp);
+
+#include "hal_comp_lld.h"
+
+/*===========================================================================*/
+/* Driver macros.                                                            */
+/*===========================================================================*/
+
+/**
+ * @name    Macro Functions
+ * @{
+ */
+/**
+ * @brief   Enables the input capture.
+ *
+ * @param[in] comp      pointer to the @p COMPDriver object
+ *
+ * @iclass
+ */
+#define compEnableI(comp) comp_lld_enable(comp)
+
+/**
+ * @brief   Disables the input capture.
+ *
+ * @param[in] comp      pointer to the @p COMPDriver object
+ *
+ * @iclass
+ */
+#define compDisableI(comp) comp_lld_disable(comp)
+/** @} */
+
+
+/**
+ * @name    Low Level driver helper macros
+ * @{
+ */
+
+/**
+ * @brief   Common ISR code, main event.
+ *
+ * @param[in] comp      pointer to the @p COMPDriver object
+ *
+ * @notapi
+ */
+#define _comp_isr_invoke_cb(comp) {                                 \
+  (comp)->config->cb(comp);                                        \
+}
+/** @} */
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void compInit(void);
+  void compObjectInit(COMPDriver *comp);
+  void compStart(COMPDriver *comp, const COMPConfig *config);
+  void compStop(COMPDriver *comp);
+  void compEnable(COMPDriver *comp);
+  void compDisable(COMPDriver *comp);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_COMP */
+
+
+#endif /* HAL_COMP_H_ */
diff --git a/os/hal/ports/STM32/LLD/COMPv1/hal_comp_lld.c b/os/hal/ports/STM32/LLD/COMPv1/hal_comp_lld.c
new file mode 100644
index 0000000..62d9f14
--- /dev/null
+++ b/os/hal/ports/STM32/LLD/COMPv1/hal_comp_lld.c
@@ -0,0 +1,520 @@
+/*
+    ChibiOS - Copyright (C) 2006..2017 Giovanni Di Sirio
+              Copyright (C) 2017 Fabien Poussin (fabien.poussin (at) google's mail)
+
+    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/hal_comp_lld.c
+ * @brief   STM32 Comp subsystem low level driver header.
+ *
+ * @addtogroup COMP
+ * @{
+ */
+
+#include "hal.h"
+
+#if HAL_USE_COMP || defined(__DOXYGEN__)
+
+#include "hal_comp.h"
+
+/*===========================================================================*/
+/* Driver local definitions.                                                 */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   COMPD1 driver identifier.
+ * @note    The driver COMPD1 allocates the comparator COMP1 when enabled.
+ */
+#if STM32_COMP_USE_COMP1 || defined(__DOXYGEN__)
+COMPDriver COMPD1;
+#endif
+
+/**
+ * @brief   COMPD2 driver identifier.
+ * @note    The driver COMPD2 allocates the comparator COMP2 when enabled.
+ */
+#if STM32_COMP_USE_COMP2 || defined(__DOXYGEN__)
+COMPDriver COMPD2;
+#endif
+
+/**
+ * @brief   COMPD3 driver identifier.
+ * @note    The driver COMPD3 allocates the comparator COMP3 when enabled.
+ */
+#if STM32_COMP_USE_COMP3 || defined(__DOXYGEN__)
+COMPDriver COMPD3;
+#endif
+
+/**
+ * @brief   COMPD4 driver identifier.
+ * @note    The driver COMPD4 allocates the comparator COMP4 when enabled.
+ */
+#if STM32_COMP_USE_COMP4 || defined(__DOXYGEN__)
+COMPDriver COMPD4;
+#endif
+
+/**
+ * @brief   COMPD5 driver identifier.
+ * @note    The driver COMPD5 allocates the comparator COMP5 when enabled.
+ */
+#if STM32_COMP_USE_COMP5 || defined(__DOXYGEN__)
+COMPDriver COMPD5;
+#endif
+
+/**
+ * @brief   COMPD6 driver identifier.
+ * @note    The driver COMPD6 allocates the comparator COMP6 when enabled.
+ */
+#if STM32_COMP_USE_COMP6 || defined(__DOXYGEN__)
+COMPDriver COMPD6;
+#endif
+
+/**
+ * @brief   COMPD7 driver identifier.
+ * @note    The driver COMPD7 allocates the comparator COMP7 when enabled.
+ */
+#if STM32_COMP_USE_COMP7 || defined(__DOXYGEN__)
+COMPDriver COMPD7;
+#endif
+
+/*===========================================================================*/
+/* Driver local variables and types.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+
+/*===========================================================================*/
+/* Driver interrupt handlers.                                                */
+/*===========================================================================*/
+
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   Low level COMP driver initialization.
+ *
+ * @notapi
+ */
+void comp_lld_init(void) {
+
+#if STM32_COMP_USE_COMP1
+  /* Driver initialization.*/
+  compObjectInit(&COMPD1);
+  COMPD1.reg = COMP;
+  COMPD1.reg->CSR = 0;
+#if STM32_COMP_USE_INTERRUPTS
+  nvicEnableVector(COMP1_2_3_IRQn, STM32_COMP_1_2_3_IRQ_PRIORITY);
+#endif
+#endif
+
+#if STM32_COMP_USE_COMP2
+  /* Driver initialization.*/
+  compObjectInit(&COMPD2);
+  COMPD2.reg = COMP2;
+  COMPD2.reg->CSR = 0;
+#if STM32_COMP_USE_INTERRUPTS
+  nvicEnableVector(COMP1_2_3_IRQn, STM32_COMP_1_2_3_IRQ_PRIORITY);
+#endif
+#endif
+
+#if STM32_COMP_USE_COMP3
+  /* Driver initialization.*/
+  compObjectInit(&COMPD3);
+  COMPD3.reg = COMP3;
+  COMPD3.reg->CSR = 0;
+#if STM32_COMP_USE_INTERRUPTS
+  nvicEnableVector(COMP1_2_3_IRQn, STM32_COMP_1_2_3_IRQ_PRIORITY);
+#endif
+#endif
+
+#if STM32_COMP_USE_COMP4
+  /* Driver initialization.*/
+  compObjectInit(&COMPD4);
+  COMPD4.reg = COMP4;
+  COMPD4.reg->CSR = 0;
+#if STM32_COMP_USE_INTERRUPTS
+  nvicEnableVector(COMP4_5_6_IRQn, STM32_COMP_1_2_3_IRQ_PRIORITY);
+#endif
+#endif
+
+#if STM32_COMP_USE_COMP5
+  /* Driver initialization.*/
+  compObjectInit(&COMPD5);
+  COMPD5.reg = COMP5;
+  COMPD5.reg->CSR = 0;
+#if STM32_COMP_USE_INTERRUPTS
+  nvicEnableVector(COMP4_5_6_IRQn, STM32_COMP_1_2_3_IRQ_PRIORITY);
+#endif
+#endif
+
+#if STM32_COMP_USE_COMP6
+  /* Driver initialization.*/
+  compObjectInit(&COMPD6);
+  COMPD6.reg = COMP6;
+  COMPD6.reg->CSR = 0;
+#if STM32_COMP_USE_INTERRUPTS
+  nvicEnableVector(COMP4_5_6_IRQn, STM32_COMP_1_2_3_IRQ_PRIORITY);
+#endif
+#endif
+
+#if STM32_COMP_USE_COMP7
+  /* Driver initialization.*/
+  compObjectInit(&COMPD7);
+  COMPD7.reg = COMP7;
+  COMPD7.reg->CSR = 0;
+#if STM32_COMP_USE_INTERRUPTS
+  nvicEnableVector(COMP7_IRQn, STM32_COMP_7_IRQ_PRIORITY);
+#endif
+#endif
+
+}
+
+/**
+ * @brief  COMP1, COMP2, COMP3 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(Vector140) {
+  uint32_t pr;
+
+  OSAL_IRQ_PROLOGUE();
+
+  pr = EXTI->PR;
+  pr &= EXTI->IMR & ((1U << 21) | (1U << 22) | (1U << 29));
+  EXTI->PR = pr;
+#if STM32_COMP_USE_COMP1
+  if (pr & (1U << 21) && COMPD1.config->cb != NULL)
+    COMPD1.config->cb(&COMPD1);
+#endif
+#if STM32_COMP_USE_COMP2
+  if (pr & (1U << 22) && COMPD2.config->cb != NULL)
+    COMPD2.config->cb(&COMPD2);
+#endif
+#if STM32_COMP_USE_COMP3
+  if (pr & (1U << 29) && COMPD3.config->cb != NULL)
+    COMPD3.config->cb(&COMPD3);
+#endif
+
+  OSAL_IRQ_EPILOGUE();
+}
+
+/**
+ * @brief   COMP4, COMP5, COMP6 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(Vector144) {
+  uint32_t pr;
+
+  OSAL_IRQ_PROLOGUE();
+
+  pr = EXTI->PR;
+  pr &= EXTI->IMR & ((1U << 30) | (1U << 31));
+  EXTI->PR = pr;
+#if STM32_COMP_USE_COMP4
+  if (pr & (1U << 30) && COMPD4.config->cb != NULL)
+    COMPD4.config->cb(&COMPD4);
+#endif
+#if STM32_COMP_USE_COMP5
+  if (pr & (1U << 31) && COMPD5.config->cb != NULL)
+    COMPD5.config->cb(&COMPD5);
+#endif
+
+#if STM32_COMP_USE_COMP6
+  pr = EXTI->PR2 & EXTI->IMR2 & (1U << 0);
+  EXTI->PR2 = pr;
+  if (pr & (1U << 0) && COMPD6.config->cb != NULL)
+    COMPD6.config->cb(&COMPD6);
+#endif
+
+  OSAL_IRQ_EPILOGUE();
+}
+
+/**
+ * @brief   COMP7 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(Vector148) {
+  uint32_t pr2;
+
+  OSAL_IRQ_PROLOGUE();
+
+  pr2 = EXTI->PR2;
+  pr2 = EXTI->IMR & (1U << 1);
+  EXTI->PR2 = pr2;
+#if STM32_COMP_USE_COMP7
+  if (pr2 & (1U << 1) && COMPD7.config->cb != NULL)
+    COMPD7.config->cb(&COMPD7);
+#endif
+
+  OSAL_IRQ_EPILOGUE();
+}
+
+/**
+ * @brief   Configures and activates an EXT channel (used by comp)
+ *
+ * @param[in] compp      pointer to the @p COMPDriver object
+ * @param[in] channel    EXT channel
+ *
+ * @notapi
+ */
+void comp_ext_lld_channel_enable(COMPDriver *compp, uint32_t channel) {
+  uint32_t cmask = (1 << (channel & 0x1F));
+
+  /* Don't touch other channels */
+  if (channel < 21 || channel > 33) {
+      return;
+  }
+
+#if STM32_EXTI_NUM_LINES > 32
+  if (channel < 32) {
+#endif
+    /* Masked out lines must not be touched by this driver.*/
+    if ((cmask & STM32_EXTI_IMR_MASK) != 0U) {
+      return;
+    }
+
+    /* Programming edge registers.*/
+    if (compp->config->irq_mode == COMP_IRQ_RISING || compp->config->irq_mode == COMP_IRQ_BOTH)
+      EXTI->RTSR |= cmask;
+    else
+      EXTI->RTSR &= ~cmask;
+    if (compp->config->irq_mode == COMP_IRQ_FALLING || compp->config->irq_mode == COMP_IRQ_BOTH)
+      EXTI->FTSR |= cmask;
+    else
+      EXTI->FTSR &= ~cmask;
+
+    /* Programming interrupt and event registers.*/
+    EXTI->IMR |= cmask;
+    EXTI->EMR &= ~cmask;
+
+#if STM32_EXTI_NUM_LINES > 32
+  }
+  else {
+    /* Masked out lines must not be touched by this driver.*/
+    if ((cmask & STM32_EXTI_IMR2_MASK) != 0U) {
+      return;
+    }
+
+    /* Programming edge registers.*/
+    if (compp->config->irq_mode == COMP_IRQ_RISING || compp->config->irq_mode == COMP_IRQ_BOTH)
+      EXTI->RTSR2 |= cmask;
+    else
+      EXTI->RTSR2 &= ~cmask;
+    if (compp->config->irq_mode == COMP_IRQ_FALLING || compp->config->irq_mode == COMP_IRQ_BOTH)
+      EXTI->FTSR2 |= cmask;
+    else
+      EXTI->FTSR2 &= ~cmask;
+
+    /* Programming interrupt and event registers.*/
+    EXTI->IMR2 |= cmask;
+    EXTI->EMR2 &= ~cmask;
+  }
+#endif
+}
+
+/**
+ * @brief   Deactivate an EXT channel (used by comp)
+ *
+ * @param[in] compp      pointer to the @p COMPDriver object
+ * @param[in] channel    EXT channel
+ *
+ * @notapi
+ */
+void comp_ext_lld_channel_disable(COMPDriver *compp, uint32_t channel) {
+
+  (void) compp;
+  uint32_t cmask = (1 << (channel & 0x1F));
+
+#if STM32_EXTI_NUM_LINES > 32
+  if (channel < 32) {
+#endif
+    EXTI->IMR  &= ~cmask;
+    EXTI->EMR  &= ~cmask;
+    EXTI->RTSR &= ~cmask;
+    EXTI->FTSR &= ~cmask;
+    EXTI->PR    =  cmask;
+#if STM32_EXTI_NUM_LINES > 32
+  }
+  else {
+    EXTI->IMR2  &= ~cmask;
+    EXTI->EMR2  &= ~cmask;
+    EXTI->RTSR2 &= ~cmask;
+    EXTI->FTSR2 &= ~cmask;
+    EXTI->PR2    =  cmask;
+  }
+#endif
+}
+
+/**
+ * @brief   Configures and activates the COMP peripheral.
+ *
+ * @param[in] compp      pointer to the @p COMPDriver object
+ *
+ * @notapi
+ */
+void comp_lld_start(COMPDriver *compp) {
+
+  // Apply CSR Execpt the enable bit.
+  compp->reg->CSR = compp->config->csr & ~COMP_CSR_COMPxEN;
+
+  // Inverted output
+  if (compp->config->output_mode == COMP_OUTPUT_INVERTED)
+    compp->reg->CSR |= COMP_CSR_COMPxPOL;
+
+#if STM32_COMP_USE_INTERRUPTS
+#if STM32_COMP_USE_COMP1
+  if (compp == &COMPD1) {
+    comp_ext_lld_channel_enable(compp, 21);
+  }
+#endif
+
+#if STM32_COMP_USE_COMP2
+  if (compp == &COMPD2) {
+    comp_ext_lld_channel_enable(compp, 22);
+  }
+#endif
+
+#if STM32_COMP_USE_COMP3
+  if (compp == &COMPD3) {
+    comp_ext_lld_channel_enable(compp, 29);
+  }
+#endif
+
+#if STM32_COMP_USE_COMP4
+  if (compp == &COMPD4) {
+    comp_ext_lld_channel_enable(compp, 30);
+  }
+#endif
+
+#if STM32_COMP_USE_COMP5
+  if (compp == &COMPD5) {
+    comp_ext_lld_channel_enable(compp, 31);
+  }
+#endif
+
+#if STM32_COMP_USE_COMP6
+  if (compp == &COMPD6) {
+    comp_ext_lld_channel_enable(compp, 32);
+  }
+#endif
+
+#if STM32_COMP_USE_COMP7
+  if (compp == &COMPD7) {
+    comp_ext_lld_channel_enable(compp, 33);
+  }
+#endif
+#endif
+
+}
+
+/**
+ * @brief   Deactivates the comp peripheral.
+ *
+ * @param[in] compp      pointer to the @p COMPDriver object
+ *
+ * @notapi
+ */
+void comp_lld_stop(COMPDriver *compp) {
+
+  if (compp->state == COMP_READY) {
+
+    compp->reg->CSR = 0;
+  }
+
+#if STM32_COMP_USE_INTERRUPTS
+#if STM32_COMP_USE_COMP1
+  if (compp == &COMPD1) {
+    comp_ext_lld_channel_disable(compp, 21);
+  }
+#endif
+
+#if STM32_COMP_USE_COMP2
+  if (compp == &COMPD2) {
+    comp_ext_lld_channel_disable(compp, 22);
+  }
+#endif
+
+#if STM32_COMP_USE_COMP3
+  if (compp == &COMPD3) {
+    comp_ext_lld_channel_disable(compp, 29);
+  }
+#endif
+
+#if STM32_COMP_USE_COMP4
+  if (compp == &COMPD4) {
+    comp_ext_lld_channel_disable(compp, 30);
+  }
+#endif
+
+#if STM32_COMP_USE_COMP5
+  if (compp == &COMPD5) {
+    comp_ext_lld_channel_disable(compp, 31);
+  }
+#endif
+
+#if STM32_COMP_USE_COMP6
+  if (compp == &COMPD6) {
+    comp_ext_lld_channel_disable(compp, 32);
+  }
+#endif
+
+#if STM32_COMP_USE_COMP7
+  if (compp == &COMPD7) {
+    comp_ext_lld_channel_disable(compp, 33);
+  }
+#endif
+#endif
+
+}
+
+/**
+ * @brief   Enables the output.
+ *
+ * @param[in] compp      pointer to the @p COMPDriver object
+ *
+ * @notapi
+ */
+void comp_lld_enable(COMPDriver *compp) {
+
+   compp->reg->CSR |= COMP_CSR_COMPxEN; /* Enable */
+}
+
+/**
+ * @brief   Disables the output.
+ *
+ * @param[in] compp      pointer to the @p COMPDriver object
+ *
+ * @notapi
+ */
+void comp_lld_disable(COMPDriver *compp) {
+
+  compp->reg->CSR &= ~COMP_CSR_COMPxEN; /* Disable */
+}
+
+#endif /* HAL_USE_COMP */
+
+/** @} */
diff --git a/os/hal/ports/STM32/LLD/COMPv1/hal_comp_lld.h b/os/hal/ports/STM32/LLD/COMPv1/hal_comp_lld.h
new file mode 100644
index 0000000..bb40327
--- /dev/null
+++ b/os/hal/ports/STM32/LLD/COMPv1/hal_comp_lld.h
@@ -0,0 +1,482 @@
+/*
+    ChibiOS - Copyright (C) 2006..2017 Giovanni Di Sirio
+              Copyright (C) 2017 Fabien Poussin (fabien.poussin (at) google's mail)
+
+    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/comp_lld.h
+ * @brief   STM32 Comparator subsystem low level driver header.
+ *
+ * @addtogroup COMP
+ * @{
+ */
+
+#ifndef HAL_COMP_LLD_H_
+#define HAL_COMP_LLD_H_
+
+#include "hal.h"
+
+#if HAL_USE_COMP || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants.                                                         */
+/*===========================================================================*/
+
+
+#define STM32_COMP_InvertingInput_1_4VREFINT          ((uint32_t)0x00000000) /*!< 1/4 VREFINT connected to comparator inverting input */
+#define STM32_COMP_InvertingInput_1_2VREFINT          COMP_CSR_COMPxINSEL_0  /*!< 1/2 VREFINT connected to comparator inverting input */
+#define STM32_COMP_InvertingInput_3_4VREFINT          COMP_CSR_COMPxINSEL_1  /*!< 3/4 VREFINT connected to comparator inverting input */
+#define STM32_COMP_InvertingInput_VREFINT             ((uint32_t)0x00000030) /*!< VREFINT connected to comparator inverting input */
+#define STM32_COMP_InvertingInput_DAC1OUT1            COMP_CSR_COMPxINSEL_2  /*!< DAC1_OUT1 (PA4) connected to comparator inverting input */
+#define STM32_COMP_InvertingInput_DAC1OUT2            ((uint32_t)0x00000050) /*!< DAC1_OUT2 (PA5) connected to comparator inverting input */
+
+#define STM32_COMP_InvertingInput_IO1                 ((uint32_t)0x00000060) /*!< I/O1 (PA0 for COMP1, PA2 for COMP2, PD15 for COMP3,
+                                                                            PE8 for COMP4, PD13 for COMP5, PD10 for COMP6,
+                                                                            PC0 for COMP7) connected to comparator inverting input */
+
+#define STM32_COMP_InvertingInput_IO2                 COMP_CSR_COMPxINSEL    /*!< I/O2 (PB12 for COMP3, PB2 for COMP4, PB10 for COMP5,
+                                                                            PB15 for COMP6) connected to comparator inverting input.
+                                                                            It is valid only for STM32F303xC devices */
+
+#define STM32_COMP_InvertingInput_DAC2OUT1            COMP_CSR_COMPxINSEL_3  /*!< DAC2_OUT1 (PA6) connected to comparator inverting input */
+
+
+#define STM32_COMP_NonInvertingInput_IO1                 ((uint32_t)0x00000000) /*!< I/O1 (PA1 for COMP1, PA7 for COMP2, PB14 for COMP3,
+                                                                               PB0 for COMP4, PD12 for COMP5, PD11 for COMP6,
+                                                                               PA0 for COMP7) connected to comparator non inverting input */
+
+#define STM32_COMP_NonInvertingInput_IO2                 COMP_CSR_COMPxNONINSEL /*!< I/O2 (PA3 for COMP2, PD14 for COMP3, PE7 for COMP4, PB13 for COMP5,
+                                                                               PB11 for COMP6, PC1 for COMP7) connected to comparator non inverting input */
+
+
+#define STM32_COMP_Output_None                            ((uint32_t)0x00000000)   /*!< COMP output isn't connected to other peripherals */
+
+/* Output Redirection common for all comparators COMP1...COMP7 */
+#define STM32_COMP_Output_TIM1BKIN                        COMP_CSR_COMPxOUTSEL_0   /*!< COMP output connected to TIM1 Break Input (BKIN) */
+#define STM32_COMP_Output_TIM1BKIN2                       ((uint32_t)0x00000800)   /*!< COMP output connected to TIM1 Break Input 2 (BKIN2) */
+#define STM32_COMP_Output_TIM8BKIN                        ((uint32_t)0x00000C00)   /*!< COMP output connected to TIM8 Break Input (BKIN) */
+#define STM32_COMP_Output_TIM8BKIN2                       ((uint32_t)0x00001000)   /*!< COMP output connected to TIM8 Break Input 2 (BKIN2) */
+#define STM32_COMP_Output_TIM1BKIN2_TIM8BKIN2             ((uint32_t)0x00001400)   /*!< COMP output connected to TIM1 Break Input 2 and TIM8 Break Input 2 */
+#define STM32_COMP_Output_TIM20BKIN                       ((uint32_t)0x00003000)   /*!< COMP output connected to TIM20 Break Input (BKIN) */
+#define STM32_COMP_Output_TIM20BKIN2                      ((uint32_t)0x00003400)  /*!< COMP output connected to TIM20 Break Input 2 (BKIN2) */
+#define STM32_COMP_Output_TIM1BKIN2_TIM8BKIN2_TIM20BKIN2  ((uint32_t)0x00001400)   /*!< COMP output connected to TIM1 Break Input 2, TIM8 Break Input 2 and TIM20 Break Input2 */
+
+/* Output Redirection common for COMP1 and COMP2 */
+#define STM32_COMP_Output_TIM1OCREFCLR                    ((uint32_t)0x00001800)   /*!< COMP output connected to TIM1 OCREF Clear */
+#define STM32_COMP_Output_TIM1IC1                         ((uint32_t)0x00001C00)   /*!< COMP output connected to TIM1 Input Capture 1 */
+#define STM32_COMP_Output_TIM2IC4                         ((uint32_t)0x00002000)   /*!< COMP output connected to TIM2 Input Capture 4 */
+#define STM32_COMP_Output_TIM2OCREFCLR                    ((uint32_t)0x00002400)   /*!< COMP output connected to TIM2 OCREF Clear */
+#define STM32_COMP_Output_TIM3IC1                         ((uint32_t)0x00002800)   /*!< COMP output connected to TIM3 Input Capture 1 */
+#define STM32_COMP_Output_TIM3OCREFCLR                    ((uint32_t)0x00002C00)   /*!< COMP output connected to TIM3 OCREF Clear */
+
+/* Output Redirection specific to COMP2 */
+#define STM32_COMP_Output_HRTIM1_FLT6                     ((uint32_t)0x00003000)   /*!< COMP output connected to HRTIM1 FLT6 */
+#define STM32_COMP_Output_HRTIM1_EE1_2                    ((uint32_t)0x00003400)   /*!< COMP output connected to HRTIM1 EE1_2*/
+#define STM32_COMP_Output_HRTIM1_EE6_2                    ((uint32_t)0x00003800)   /*!< COMP output connected to HRTIM1 EE6_2 */
+#define STM32_COMP_Output_TIM20OCREFCLR                   ((uint32_t)0x00003C00)   /*!< COMP output connected to TIM20 OCREF Clear */
+
+/* Output Redirection specific to COMP3 */
+#define STM32_COMP_Output_TIM4IC1                         ((uint32_t)0x00001C00)   /*!< COMP output connected to TIM4 Input Capture 1 */
+#define STM32_COMP_Output_TIM3IC2                         ((uint32_t)0x00002000)   /*!< COMP output connected to TIM3 Input Capture 2 */
+#define STM32_COMP_Output_TIM15IC1                        ((uint32_t)0x00002800)   /*!< COMP output connected to TIM15 Input Capture 1 */
+#define STM32_COMP_Output_TIM15BKIN                       ((uint32_t)0x00002C00)   /*!< COMP output connected to TIM15 Break Input (BKIN) */
+
+/* Output Redirection specific to COMP4 */
+#define STM32_COMP_Output_TIM3IC3                         ((uint32_t)0x00001800)   /*!< COMP output connected to TIM3 Input Capture 3 */
+#define STM32_COMP_Output_TIM8OCREFCLR                    ((uint32_t)0x00001C00)   /*!< COMP output connected to TIM8 OCREF Clear */
+#define STM32_COMP_Output_TIM15IC2                        ((uint32_t)0x00002000)   /*!< COMP output connected to TIM15 Input Capture 2 */
+#define STM32_COMP_Output_TIM4IC2                         ((uint32_t)0x00002400)   /*!< COMP output connected to TIM4 Input Capture 2 */
+#define STM32_COMP_Output_TIM15OCREFCLR                   ((uint32_t)0x00002800)   /*!< COMP output connected to TIM15 OCREF Clear */
+
+#define STM32_COMP_Output_HRTIM1_FLT7                     ((uint32_t)0x00003000)   /*!< COMP output connected to HRTIM1 FLT7 */
+#define STM32_COMP_Output_HRTIM1_EE2_2                    ((uint32_t)0x00003400)   /*!< COMP output connected to HRTIM1 EE2_2*/
+#define STM32_COMP_Output_HRTIM1_EE7_2                    ((uint32_t)0x00003800)   /*!< COMP output connected to HRTIM1 EE7_2 */
+
+/* Output Redirection specific to COMP5 */
+#define STM32_COMP_Output_TIM2IC1                         ((uint32_t)0x00001800)   /*!< COMP output connected to TIM2 Input Capture 1 */
+#define STM32_COMP_Output_TIM17IC1                        ((uint32_t)0x00002000)   /*!< COMP output connected to TIM17 Input Capture 1 */
+#define STM32_COMP_Output_TIM4IC3                         ((uint32_t)0x00002400)   /*!< COMP output connected to TIM4 Input Capture 3 */
+#define STM32_COMP_Output_TIM16BKIN                       ((uint32_t)0x00002800)   /*!< COMP output connected to TIM16 Break Input (BKIN) */
+
+/* Output Redirection specific to COMP6 */
+#define STM32_COMP_Output_TIM2IC2                         ((uint32_t)0x00001800)   /*!< COMP output connected to TIM2 Input Capture 2 */
+#define STM32_COMP_Output_COMP6TIM2OCREFCLR               ((uint32_t)0x00002000)   /*!< COMP output connected to TIM2 OCREF Clear */
+#define STM32_COMP_Output_TIM16OCREFCLR                   ((uint32_t)0x00002400)   /*!< COMP output connected to TIM16 OCREF Clear */
+#define STM32_COMP_Output_TIM16IC1                        ((uint32_t)0x00002800)   /*!< COMP output connected to TIM16 Input Capture 1 */
+#define STM32_COMP_Output_TIM4IC4                         ((uint32_t)0x00002C00)   /*!< COMP output connected to TIM4 Input Capture 4 */
+
+#define STM32_COMP_Output_HRTIM1_FLT8                     ((uint32_t)0x00003000)   /*!< COMP output connected to HRTIM1 FLT8 */
+#define STM32_COMP_Output_HRTIM1_EE3_2                    ((uint32_t)0x00003400)   /*!< COMP output connected to HRTIM1 EE3_2*/
+#define STM32_COMP_Output_HRTIM1_EE8_2                    ((uint32_t)0x00003800)   /*!< COMP output connected to HRTIM1 EE8_2 */
+
+/* Output Redirection specific to COMP7 */
+#define STM32_COMP_Output_TIM2IC3                         ((uint32_t)0x00002000)   /*!< COMP output connected to TIM2 Input Capture 3 */
+#define STM32_COMP_Output_TIM1IC2                         ((uint32_t)0x00002400)   /*!< COMP output connected to TIM1 Input Capture 2 */
+#define STM32_COMP_Output_TIM17OCREFCLR                   ((uint32_t)0x00002800)   /*!< COMP output connected to TIM16 OCREF Clear */
+#define STM32_COMP_Output_TIM17BKIN                       ((uint32_t)0x00002C00)   /*!< COMP output connected to TIM16 Break Input (BKIN) */
+
+/* No blanking source can be selected for all comparators */
+#define STM32_COMP_BlankingSrce_None                   ((uint32_t)0x00000000)    /*!< No blanking source */
+
+/* Blanking source common for COMP1, COMP2, COMP3 and COMP7 */
+#define STM32_COMP_BlankingSrce_TIM1OC5                COMP_CSR_COMPxBLANKING_0  /*!< TIM1 OC5 selected as blanking source for compartor */
+
+/* Blanking source common for COMP1 and COMP2 */
+#define STM32_COMP_BlankingSrce_TIM2OC3                COMP_CSR_COMPxBLANKING_1  /*!< TIM2 OC5 selected as blanking source for compartor */
+
+/* Blanking source common for COMP1, COMP2 and COMP5 */
+#define STM32_COMP_BlankingSrce_TIM3OC3                ((uint32_t)0x000C0000)    /*!< TIM2 OC3 selected as blanking source for compartor */
+
+/* Blanking source common for COMP3 and COMP6 */
+#define STM32_COMP_BlankingSrce_TIM2OC4                ((uint32_t)0x000C0000)  /*!< TIM2 OC4 selected as blanking source for compartor */
+
+/* Blanking source common for COMP4, COMP5, COMP6 and COMP7 */
+#define STM32_COMP_BlankingSrce_TIM8OC5                COMP_CSR_COMPxBLANKING_1  /*!< TIM8 OC5 selected as blanking source for compartor */
+
+/* Blanking source for COMP4 */
+#define STM32_COMP_BlankingSrce_TIM3OC4                COMP_CSR_COMPxBLANKING_0  /*!< TIM3 OC4 selected as blanking source for compartor */
+#define STM32_COMP_BlankingSrce_TIM15OC1               ((uint32_t)0x000C0000)    /*!< TIM15 OC1 selected as blanking source for compartor */
+
+/* Blanking source common for COMP6 and COMP7 */
+#define STM32_COMP_BlankingSrce_TIM15OC2               COMP_CSR_COMPxBLANKING_2    /*!< TIM15 OC2 selected as blanking source for compartor */
+
+#define STM32_COMP_OutputPol_NonInverted              ((uint32_t)0x00000000)  /*!< COMP output on GPIO isn't inverted */
+#define STM32_COMP_OutputPol_Inverted                 COMP_CSR_COMPxPOL       /*!< COMP output on GPIO is inverted */
+
+#define STM32_COMP_Hysteresis_No                      0x00000000           /*!< No hysteresis */
+#define STM32_COMP_Hysteresis_Low                     COMP_CSR_COMPxHYST_0 /*!< Hysteresis level low */
+#define STM32_COMP_Hysteresis_Medium                  COMP_CSR_COMPxHYST_1 /*!< Hysteresis level medium */
+#define STM32_COMP_Hysteresis_High                    COMP_CSR_COMPxHYST   /*!< Hysteresis level high */
+
+#define STM32_COMP_Mode_HighSpeed                     0x00000000            /*!< High Speed */
+#define STM32_COMP_Mode_MediumSpeed                   COMP_CSR_COMPxMODE_0  /*!< Medium Speed */
+#define STM32_COMP_Mode_LowPower                      COMP_CSR_COMPxMODE_1  /*!< Low power mode */
+#define STM32_COMP_Mode_UltraLowPower                 COMP_CSR_COMPxMODE    /*!< Ultra-low power mode */
+
+/* When output polarity is not inverted, comparator output is high when
+   the non-inverting input is at a higher voltage than the inverting input */
+#define STM32_COMP_OutputLevel_High                   COMP_CSR_COMPxOUT
+/* When output polarity is not inverted, comparator output is low when
+   the non-inverting input is at a lower voltage than the inverting input*/
+#define STM32_COMP_OutputLevel_Low                    ((uint32_t)0x00000000)
+
+
+#if defined(STM32F301x8) || defined(STM32F302x8) || defined(STM32F303x8) \
+|| defined(STM32F318xx) || defined(STM32F328xx) || defined(STM32F334x8)
+#define STM32_HAS_COMP1 FALSE
+#define STM32_HAS_COMP2 TRUE
+#define STM32_HAS_COMP3 FALSE
+#define STM32_HAS_COMP4 TRUE
+#define STM32_HAS_COMP5 FALSE
+#define STM32_HAS_COMP6 TRUE
+#define STM32_HAS_COMP7 FALSE
+
+#elif defined(STM32F302xc) || defined(STM32F302xe)
+#define STM32_HAS_COMP1 TRUE
+#define STM32_HAS_COMP2 TRUE
+#define STM32_HAS_COMP3 FALSE
+#define STM32_HAS_COMP4 TRUE
+#define STM32_HAS_COMP5 FALSE
+#define STM32_HAS_COMP6 TRUE
+#define STM32_HAS_COMP7 FALSE
+
+#elif defined(STM32F303xC) || defined(STM32F303xE) || defined(STM32F358xx) || defined(STM32F398xx)
+#define STM32_HAS_COMP1 TRUE
+#define STM32_HAS_COMP2 TRUE
+#define STM32_HAS_COMP3 TRUE
+#define STM32_HAS_COMP4 TRUE
+#define STM32_HAS_COMP5 TRUE
+#define STM32_HAS_COMP6 TRUE
+#define STM32_HAS_COMP7 TRUE
+
+#elif defined(STM32F373xx) || defined(STM32F378xx) || defined(STM32L0XX) || defined(STM32L1XX) \
+  || defined(STM32F051x8) || defined(STM32F048xx) || defined(STM32F058xx) || defined(STM32F078xx) \
+  || defined(STM32F072xb) || defined(STM32F071xb)
+#define STM32_HAS_COMP1 TRUE
+#define STM32_HAS_COMP2 TRUE
+#define STM32_HAS_COMP3 FALSE
+#define STM32_HAS_COMP4 FALSE
+#define STM32_HAS_COMP5 FALSE
+#define STM32_HAS_COMP6 FALSE
+#define STM32_HAS_COMP7 FALSE
+
+#else
+#define STM32_HAS_COMP1 FALSE
+#define STM32_HAS_COMP2 FALSE
+#define STM32_HAS_COMP3 FALSE
+#define STM32_HAS_COMP4 FALSE
+#define STM32_HAS_COMP5 FALSE
+#define STM32_HAS_COMP6 FALSE
+#define STM32_HAS_COMP7 FALSE
+
+#endif
+
+/*===========================================================================*/
+/* Driver pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @name    Configuration options
+ * @{
+ */
+
+/**
+ * @brief   COMP INTERRUPTS.
+ * @details If set to @p TRUE the support for COMPD1 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(STM32_COMP_USE_INTERRUPTS) || defined(__DOXYGEN__)
+#define STM32_COMP_USE_INTERRUPTS             FALSE
+#endif
+
+/**
+ * @brief   COMPD1 driver enable switch.
+ * @details If set to @p TRUE the support for COMPD1 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(STM32_COMP_USE_COMP1) || defined(__DOXYGEN__)
+#define STM32_COMP_USE_COMP1                  FALSE
+#endif
+
+/**
+ * @brief   COMPD2 driver enable switch.
+ * @details If set to @p TRUE the support for COMPD2 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(STM32_COMP_USE_COMP2) || defined(__DOXYGEN__)
+#define STM32_COMP_USE_COMP2                  FALSE
+#endif
+
+/**
+ * @brief   COMPD3 driver enable switch.
+ * @details If set to @p TRUE the support for COMPD3 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(STM32_COMP_USE_COMP3) || defined(__DOXYGEN__)
+#define STM32_COMP_USE_COMP3                  FALSE
+#endif
+
+/**
+ * @brief   COMPD4 driver enable switch.
+ * @details If set to @p TRUE the support for COMPD4 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(STM32_COMP_USE_COMP4) || defined(__DOXYGEN__)
+#define STM32_COMP_USE_COMP4                  FALSE
+#endif
+
+/**
+ * @brief   COMPD5 driver enable switch.
+ * @details If set to @p TRUE the support for COMPD4 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(STM32_COMP_USE_COMP5) || defined(__DOXYGEN__)
+#define STM32_COMP_USE_COMP5                  FALSE
+#endif
+
+/**
+ * @brief   COMPD6 driver enable switch.
+ * @details If set to @p TRUE the support for COMPD4 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(STM32_COMP_USE_COMP6) || defined(__DOXYGEN__)
+#define STM32_COMP_USE_COMP6                  FALSE
+#endif
+
+/**
+ * @brief   COMPD7 driver enable switch.
+ * @details If set to @p TRUE the support for COMPD4 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(STM32_COMP_USE_COMP7) || defined(__DOXYGEN__)
+#define STM32_COMP_USE_COMP7                  FALSE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+#if STM32_COMP_USE_INTERRUPTS && defined(STM32F0XX)
+#error "Interrupts are shared with EXTI on F0s (lines 21-22)"
+#endif
+
+#if STM32_COMP_USE_INTERRUPTS
+#if !defined(STM32_DISABLE_EXTI21_22_29_HANDLER) || !defined(STM32_DISABLE_EXTI30_32_HANDLER) || !defined(STM32_DISABLE_EXTI33_HANDLER)
+#error "COMP needs these defines in mcuconf to use interrupts: STM32_DISABLE_EXTI21_22_29_HANDLER STM32_DISABLE_EXTI30_32_HANDLER STM32_DISABLE_EXTI33_HANDLER"
+#endif
+#endif
+
+#if STM32_COMP_USE_COMP1 && !STM32_HAS_COMP1
+#error "COMP1 not present in the selected device"
+#endif
+
+#if STM32_COMP_USE_COMP2 && !STM32_HAS_COMP2
+#error "COMP2 not present in the selected device"
+#endif
+
+#if STM32_COMP_USE_COMP3 && !STM32_HAS_COMP3
+#error "COMP3 not present in the selected device"
+#endif
+
+#if STM32_COMP_USE_COMP4 && !STM32_HAS_COMP4
+#error "COMP4 not present in the selected device"
+#endif
+
+#if STM32_COMP_USE_COMP5 && !STM32_HAS_COMP5
+#error "COMP5 not present in the selected device"
+#endif
+
+#if STM32_COMP_USE_COMP6 && !STM32_HAS_COMP6
+#error "COMP6 not present in the selected device"
+#endif
+
+#if STM32_COMP_USE_COMP7 && !STM32_HAS_COMP7
+#error "COMP7 not present in the selected device"
+#endif
+
+#if !STM32_COMP_USE_COMP1 && !STM32_COMP_USE_COMP2 &&                         \
+    !STM32_COMP_USE_COMP3 && !STM32_COMP_USE_COMP4 &&                         \
+    !STM32_COMP_USE_COMP6 && !STM32_COMP_USE_COMP6 &&                         \
+    !STM32_COMP_USE_COMP7
+#error "COMP driver activated but no COMP peripheral assigned"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   COMP output mode.
+ */
+typedef enum {
+  COMP_OUTPUT_NORMAL = 0,
+  COMP_OUTPUT_INVERTED = 1
+} comp_output_mode_t;
+
+/**
+ * @brief   COMP interrupt mode.
+ */
+typedef enum {
+  COMP_IRQ_RISING = 0,
+  COMP_IRQ_FALLING = 1,
+  COMP_IRQ_BOTH = 2
+} comp_irq_mode_t;
+
+/**
+ * @brief   Driver configuration structure.
+ * @note    It could be empty on some architectures.
+ */
+typedef struct {
+  /**
+   * @brief   Ouput mode.
+   */
+  comp_output_mode_t        output_mode;
+
+  /**
+   * @brief   Ouput mode.
+   */
+  comp_irq_mode_t           irq_mode;
+
+  /**
+   * @brief   Callback.
+   */
+  compcallback_t             cb;
+
+  /* End of the mandatory fields.*/
+
+  /**
+   * @brief COMP CSR register initialization data.
+   * @note  The value of this field should normally be equal to zero.
+   */
+  uint32_t                  csr;
+} COMPConfig;
+
+/**
+ * @brief   Structure representing an COMP driver.
+ */
+struct COMPDriver {
+  /**
+   * @brief Driver state.
+   */
+  compstate_t                state;
+  /**
+   * @brief Current configuration data.
+   */
+  const COMPConfig           *config;
+#if defined(COMP_DRIVER_EXT_FIELDS)
+  COMP_DRIVER_EXT_FIELDS
+#endif
+  /* End of the mandatory fields.*/
+  /**
+   * @brief Pointer to the COMPx registers block.
+   */
+  COMP_TypeDef               *reg;
+};
+
+/*===========================================================================*/
+/* Driver macros.                                                            */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#if STM32_COMP_USE_COMP1 && !defined(__DOXYGEN__)
+extern COMPDriver COMPD1;
+#endif
+
+#if STM32_COMP_USE_COMP2 && !defined(__DOXYGEN__)
+extern COMPDriver COMPD2;
+#endif
+
+#if STM32_COMP_USE_COMP3 && !defined(__DOXYGEN__)
+extern COMPDriver COMPD3;
+#endif
+
+#if STM32_COMP_USE_COMP4 && !defined(__DOXYGEN__)
+extern COMPDriver COMPD4;
+#endif
+
+#if STM32_COMP_USE_COMP5 && !defined(__DOXYGEN__)
+extern COMPDriver COMPD5;
+#endif
+
+#if STM32_COMP_USE_COMP6 && !defined(__DOXYGEN__)
+extern COMPDriver COMPD6;
+#endif
+
+#if STM32_COMP_USE_COMP7 && !defined(__DOXYGEN__)
+extern COMPDriver COMPD7;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void comp_lld_init(void);
+  void comp_lld_start(COMPDriver *compp);
+  void comp_lld_stop(COMPDriver *compp);
+  void comp_lld_enable(COMPDriver *compp);
+  void comp_lld_disable(COMPDriver *compp);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_COMP */
+
+#endif /* _comp_lld_H_ */
+
+/** @} */
diff --git a/os/hal/ports/STM32/STM32F3xx/platform.mk b/os/hal/ports/STM32/STM32F3xx/platform.mk
index 92f033c..910fb1f 100644
--- a/os/hal/ports/STM32/STM32F3xx/platform.mk
+++ b/os/hal/ports/STM32/STM32F3xx/platform.mk
@@ -4,7 +4,9 @@ PLATFORMSRC += ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/CRCv1/hal_crc_lld.c \
                ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/TIMv1/hal_eicu_lld.c \
                ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/TIMv1/hal_timcap_lld.c \
                ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c \
+               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/COMPv1/hal_comp_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/COMPv1 \
                ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD
diff --git a/os/hal/src/hal_community.c b/os/hal/src/hal_community.c
index 8a39bf1..ad05fe4 100644
--- a/os/hal/src/hal_community.c
+++ b/os/hal/src/hal_community.c
@@ -80,6 +80,10 @@ void halCommunityInit(void) {
 #if HAL_USE_QEI || defined(__DOXYGEN__)

   qeiInit();

 #endif

+

+#if HAL_USE_COMP || defined(__DOXYGEN__)

+  compInit();

+#endif

 }

 

 #endif /* HAL_USE_COMMUNITY */

diff --git a/os/hal/src/hal_comp.c b/os/hal/src/hal_comp.c
new file mode 100644
index 0000000..abc0fad
--- /dev/null
+++ b/os/hal/src/hal_comp.c
@@ -0,0 +1,155 @@
+/*
+    ChibiOS - Copyright (C) 2006..2017 Giovanni Di Sirio
+              Copyright (C) 2017 Fabien Poussin (fabien.poussin (at) google's mail)
+
+    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    hal_comp.c
+ * @brief   COMP Driver code.
+ *
+ * @addtogroup COMP
+ * @{
+ */
+
+#include "hal_comp.h"
+
+#if HAL_USE_COMP || defined(__DOXYGEN__)
+
+
+/*===========================================================================*/
+/* Driver local definitions.                                                 */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   COMP Driver initialization.
+ * @note    This function is implicitly invoked by @p halInit(), there is
+ *          no need to explicitly initialize the driver.
+ *
+ * @init
+ */
+void compInit(void) {
+
+  comp_lld_init();
+}
+
+/**
+ * @brief   Initializes the standard part of a @p COMPDriver structure.
+ *
+ * @param[out] compp     pointer to the @p COMPDriver object
+ *
+ * @init
+ */
+void compObjectInit(COMPDriver *compp) {
+
+  compp->state  = COMP_STOP;
+  compp->config = NULL;
+}
+
+/**
+ * @brief   Configures and activates the COMP peripheral.
+ *
+ * @param[in] compp      pointer to the @p COMPDriver object
+ * @param[in] config    pointer to the @p COMPConfig object
+ *
+ * @api
+ */
+void compStart(COMPDriver *compp, const COMPConfig *config) {
+
+  osalDbgCheck((compp != NULL) && (config != NULL));
+
+  osalSysLock();
+  osalDbgAssert((compp->state == COMP_STOP) || (compp->state == COMP_READY),
+              "invalid state");
+  compp->config = config;
+  comp_lld_start(compp);
+  compp->state = COMP_READY;
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Deactivates the COMP peripheral.
+ *
+ * @param[in] compp      pointer to the @p COMPDriver object
+ *
+ * @api
+ */
+void compStop(COMPDriver *compp) {
+
+  osalDbgCheck(compp != NULL);
+
+  osalSysLock();
+  osalDbgAssert((compp->state == COMP_STOP) || (compp->state == COMP_READY),
+              "invalid state");
+  comp_lld_stop(compp);
+  compp->state = COMP_STOP;
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Activates the comparator.
+ *
+ * @param[in] compp      pointer to the @p COMPDriver object
+ *
+ * @api
+ */
+void compEnable(COMPDriver *compp) {
+
+  osalDbgCheck(compp != NULL);
+
+  osalSysLock();
+  osalDbgAssert(compp->state == COMP_READY, "invalid state");
+  comp_lld_enable(compp);
+  compp->state = COMP_ACTIVE;
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Deactivates the comparator.
+ *
+ * @param[in] compp      pointer to the @p COMPDriver object
+ *
+ * @api
+ */
+void compDisable(COMPDriver *compp) {
+
+  osalDbgCheck(compp != NULL);
+
+  osalSysLock();
+  osalDbgAssert((compp->state == COMP_READY) || (compp->state == COMP_ACTIVE),
+             "invalid state");
+  comp_lld_disable(compp);
+  compp->state = COMP_READY;
+  osalSysUnlock();
+}
+
+#endif /* HAL_USE_COMP */
+
+/** @} */