Enhanced PWM driver

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7208 35acf78f-673a-0410-8e92-d51de3d6d3f4

15 files changed, 395 insertions, 71 deletions

diff --git a/os/hal/include/pwm.h b/os/hal/include/pwm.h
index d7176660e..6ecd93717 100644
--- a/os/hal/include/pwm.h
+++ b/os/hal/include/pwm.h
@@ -87,7 +87,7 @@ typedef enum {
 typedef struct PWMDriver PWMDriver;

 

 /**

- * @brief   PWM notification callback type.

+ * @brief   Type of a PWM notification callback.

  *

  * @param[in] pwmp      pointer to a @p PWMDriver object

  */

@@ -187,13 +187,15 @@ typedef void (*pwmcallback_t)(PWMDriver *pwmp);
  *          or immediately (fallback implementation).

  *

  * @param[in] pwmp      pointer to a @p PWMDriver object

- * @param[in] channel   PWM channel identifier (0...PWM_CHANNELS-1)

+ * @param[in] channel   PWM channel identifier (0...channels-1)

  * @param[in] width     PWM pulse width as clock pulses number

  *

  * @iclass

  */

-#define pwmEnableChannelI(pwmp, channel, width)                             \

-  pwm_lld_enable_channel(pwmp, channel, width)

+#define pwmEnableChannelI(pwmp, channel, width) do {                        \

+  (pwmp)->enabled |= 1 << (channel);                                        \

+  pwm_lld_enable_channel(pwmp, channel, width);                             \

+} while (0)

 

 /**

  * @brief   Disables a PWM channel.

@@ -205,24 +207,26 @@ typedef void (*pwmcallback_t)(PWMDriver *pwmp);
  *          or immediately (fallback implementation).

  *

  * @param[in] pwmp      pointer to a @p PWMDriver object

- * @param[in] channel   PWM channel identifier (0...PWM_CHANNELS-1)

+ * @param[in] channel   PWM channel identifier (0...channels-1)

  *

  * @iclass

  */

-#define pwmDisableChannelI(pwmp, channel)                                   \

-  pwm_lld_disable_channel(pwmp, channel)

+#define pwmDisableChannelI(pwmp, channel) do {                              \

+  (pwmp)->enabled &= ~(1 << (channel));                                     \

+  pwm_lld_disable_channel(pwmp, channel);                                   \

+} while (0)

 

 /**

  * @brief   Returns a PWM channel status.

  * @pre     The PWM unit must have been activated using @p pwmStart().

  *

  * @param[in] pwmp      pointer to a @p PWMDriver object

- * @param[in] channel   PWM channel identifier (0...PWM_CHANNELS-1)

+ * @param[in] channel   PWM channel identifier (0...channels-1)

  *

  * @iclass

  */

 #define pwmIsChannelEnabledI(pwmp, channel)                                 \

-  pwm_lld_is_channel_enabled(pwmp, channel)

+  ((bool)((pwmp)->enabled & (1 << (channel))))

 /** @} */

 

 /*===========================================================================*/

@@ -241,6 +245,10 @@ extern "C" {
                         pwmchannel_t channel,

                         pwmcnt_t width);

   void pwmDisableChannel(PWMDriver *pwmp, pwmchannel_t channel);

+  void pwmEnablePeriodicNotification(PWMDriver *pwmp);

+  void pwmDisablePeriodicNotification(PWMDriver *pwmp);

+  void pwmEnableChannelNotification(PWMDriver *pwmp, pwmchannel_t channel);

+  void pwmDisableChannelNotification(PWMDriver *pwmp, pwmchannel_t channel);

 #ifdef __cplusplus

 }

 #endif

diff --git a/os/hal/ports/STM32/LLD/TIMv1/pwm_lld.c b/os/hal/ports/STM32/LLD/TIMv1/pwm_lld.c
index 07055fba4..2b633c2e2 100644
--- a/os/hal/ports/STM32/LLD/TIMv1/pwm_lld.c
+++ b/os/hal/ports/STM32/LLD/TIMv1/pwm_lld.c
@@ -114,15 +114,19 @@ static void pwm_lld_serve_interrupt(PWMDriver *pwmp) {
   sr  = pwmp->tim->SR;

   sr &= pwmp->tim->DIER & STM32_TIM_DIER_IRQ_MASK;

   pwmp->tim->SR = ~sr;

-  if ((sr & STM32_TIM_SR_CC1IF) != 0)

+  if (((sr & STM32_TIM_SR_CC1IF) != 0) &&

+      (pwmp->config->channels[0].callback != NULL))

     pwmp->config->channels[0].callback(pwmp);

-  if ((sr & STM32_TIM_SR_CC2IF) != 0)

+  if (((sr & STM32_TIM_SR_CC2IF) != 0) &&

+      (pwmp->config->channels[1].callback != NULL))

     pwmp->config->channels[1].callback(pwmp);

-  if ((sr & STM32_TIM_SR_CC3IF) != 0)

+  if (((sr & STM32_TIM_SR_CC3IF) != 0) &&

+      (pwmp->config->channels[2].callback != NULL))

     pwmp->config->channels[2].callback(pwmp);

-  if ((sr & STM32_TIM_SR_CC4IF) != 0)

+  if (((sr & STM32_TIM_SR_CC4IF) != 0) &&

+      (pwmp->config->channels[3].callback != NULL))

     pwmp->config->channels[3].callback(pwmp);

-  if ((sr & STM32_TIM_SR_UIF) != 0)

+  if (((sr & STM32_TIM_SR_UIF) != 0) && (pwmp->config->callback != NULL))

     pwmp->config->callback(pwmp);

 }

 #endif /* STM32_PWM_USE_TIM2 || ... || STM32_PWM_USE_TIM5 */

@@ -148,7 +152,8 @@ OSAL_IRQ_HANDLER(STM32_TIM1_UP_HANDLER) {
   OSAL_IRQ_PROLOGUE();

 

   STM32_TIM1->SR = ~STM32_TIM_SR_UIF;

-  PWMD1.config->callback(&PWMD1);

+  if (PWMD1.config->callback != NULL)

+    PWMD1.config->callback(&PWMD1);

 

   OSAL_IRQ_EPILOGUE();

 }

@@ -169,15 +174,22 @@ OSAL_IRQ_HANDLER(STM32_TIM1_CC_HANDLER) {
 

   OSAL_IRQ_PROLOGUE();

 

-  sr = STM32_TIM1->SR & STM32_TIM1->DIER & STM32_TIM_DIER_IRQ_MASK;

+  sr = STM32_TIM1->SR & STM32_TIM1->DIER & (STM32_TIM_DIER_CC1IE |

+                                            STM32_TIM_DIER_CC2IE |

+                                            STM32_TIM_DIER_CC3IE |

+                                            STM32_TIM_DIER_CC4IE);

   STM32_TIM1->SR = ~sr;

-  if ((sr & STM32_TIM_SR_CC1IF) != 0)

+  if (((sr & STM32_TIM_SR_CC1IF) != 0) &&

+      (PWMD1.config->channels[0].callback != NULL))

     PWMD1.config->channels[0].callback(&PWMD1);

-  if ((sr & STM32_TIM_SR_CC2IF) != 0)

+  if (((sr & STM32_TIM_SR_CC2IF) != 0) &&

+      (PWMD1.config->channels[1].callback != NULL))

     PWMD1.config->channels[1].callback(&PWMD1);

-  if ((sr & STM32_TIM_SR_CC3IF) != 0)

+  if (((sr & STM32_TIM_SR_CC3IF) != 0) &&

+      (PWMD1.config->channels[2].callback != NULL))

     PWMD1.config->channels[2].callback(&PWMD1);

-  if ((sr & STM32_TIM_SR_CC4IF) != 0)

+  if (((sr & STM32_TIM_SR_CC4IF) != 0) &&

+      (PWMD1.config->channels[3].callback != NULL))

     PWMD1.config->channels[3].callback(&PWMD1);

 

   OSAL_IRQ_EPILOGUE();

@@ -277,7 +289,8 @@ OSAL_IRQ_HANDLER(STM32_TIM8_UP_HANDLER) {
   OSAL_IRQ_PROLOGUE();

 

   STM32_TIM8->SR = ~TIM_SR_UIF;

-  PWMD8.config->callback(&PWMD8);

+  if (PWMD8.config->callback != NULL)

+    PWMD8.config->callback(&PWMD8);

 

   OSAL_IRQ_EPILOGUE();

 }

@@ -298,15 +311,22 @@ OSAL_IRQ_HANDLER(STM32_TIM8_CC_HANDLER) {
 

   OSAL_IRQ_PROLOGUE();

 

-  sr = STM32_TIM8->SR & STM32_TIM8->DIER & STM32_TIM_DIER_IRQ_MASK;

+  sr = STM32_TIM8->SR & STM32_TIM8->DIER & (STM32_TIM_DIER_CC1IE |

+                                            STM32_TIM_DIER_CC2IE |

+                                            STM32_TIM_DIER_CC3IE |

+                                            STM32_TIM_DIER_CC4IE);

   STM32_TIM8->SR = ~sr;

-  if ((sr & STM32_TIM_SR_CC1IF) != 0)

+  if (((sr & STM32_TIM_SR_CC1IF) != 0) &&

+      (PWMD8.config->channels[0].callback != NULL))

     PWMD8.config->channels[0].callback(&PWMD8);

-  if ((sr & STM32_TIM_SR_CC2IF) != 0)

+  if (((sr & STM32_TIM_SR_CC2IF) != 0) &&

+      (PWMD8.config->channels[1].callback != NULL))

     PWMD8.config->channels[1].callback(&PWMD8);

-  if ((sr & STM32_TIM_SR_CC3IF) != 0)

+  if (((sr & STM32_TIM_SR_CC3IF) != 0) &&

+      (PWMD8.config->channels[2].callback != NULL))

     PWMD8.config->channels[2].callback(&PWMD8);

-  if ((sr & STM32_TIM_SR_CC4IF) != 0)

+  if (((sr & STM32_TIM_SR_CC4IF) != 0) &&

+      (PWMD8.config->channels[3].callback != NULL))

     PWMD8.config->channels[3].callback(&PWMD8);

 

   OSAL_IRQ_EPILOGUE();

@@ -346,42 +366,49 @@ void pwm_lld_init(void) {
 #if STM32_PWM_USE_TIM1

   /* Driver initialization.*/

   pwmObjectInit(&PWMD1);

+  PWMD1.channels = STM32_TIM1_CHANNELS;

   PWMD1.tim = STM32_TIM1;

 #endif

 

 #if STM32_PWM_USE_TIM2

   /* Driver initialization.*/

   pwmObjectInit(&PWMD2);

+  PWMD2.channels = STM32_TIM2_CHANNELS;

   PWMD2.tim = STM32_TIM2;

 #endif

 

 #if STM32_PWM_USE_TIM3

   /* Driver initialization.*/

   pwmObjectInit(&PWMD3);

+  PWMD3.channels = STM32_TIM3_CHANNELS;

   PWMD3.tim = STM32_TIM3;

 #endif

 

 #if STM32_PWM_USE_TIM4

   /* Driver initialization.*/

   pwmObjectInit(&PWMD4);

+  PWMD4.channels = STM32_TIM4_CHANNELS;

   PWMD4.tim = STM32_TIM4;

 #endif

 

 #if STM32_PWM_USE_TIM5

   /* Driver initialization.*/

   pwmObjectInit(&PWMD5);

+  PWMD5.channels = STM32_TIM5_CHANNELS;

   PWMD5.tim = STM32_TIM5;

 #endif

 

 #if STM32_PWM_USE_TIM8

   /* Driver initialization.*/

   pwmObjectInit(&PWMD8);

+  PWMD8.channels = STM32_TIM8_CHANNELS;

   PWMD8.tim = STM32_TIM8;

 #endif

 

 #if STM32_PWM_USE_TIM9

   /* Driver initialization.*/

   pwmObjectInit(&PWMD9);

+  PWMD9.channels = STM32_TIM9_CHANNELS;

   PWMD9.tim = STM32_TIM9;

 #endif

 }

@@ -475,6 +502,10 @@ void pwm_lld_start(PWMDriver *pwmp) {
                        STM32_TIM_CCMR1_OC2M(6) | STM32_TIM_CCMR1_OC2PE;

     pwmp->tim->CCMR2 = STM32_TIM_CCMR2_OC3M(6) | STM32_TIM_CCMR2_OC3PE |

                        STM32_TIM_CCMR2_OC4M(6) | STM32_TIM_CCMR2_OC4PE;

+#if STM32_TIM_MAX_CHANNELS > 4

+    pwmp->tim->CCMR3 = STM32_TIM_CCMR3_OC5M(6) | STM32_TIM_CCMR3_OC5PE |

+                       STM32_TIM_CCMR3_OC6M(6) | STM32_TIM_CCMR3_OC6PE;

+#endif

   }

   else {

     /* Driver re-configuration scenario, it must be stopped first.*/

@@ -486,6 +517,12 @@ void pwm_lld_start(PWMDriver *pwmp) {
     pwmp->tim->CCR[1] = 0;                  /* Comparator 2 disabled.       */

     pwmp->tim->CCR[2] = 0;                  /* Comparator 3 disabled.       */

     pwmp->tim->CCR[3] = 0;                  /* Comparator 4 disabled.       */

+#if STM32_TIM_MAX_CHANNELS > 4

+    if (pwmp->channels > 4) {

+      pwmp->tim->CCXR[0] = 0;               /* Comparator 5 disabled.       */

+      pwmp->tim->CCXR[1] = 0;               /* Comparator 6 disabled.       */

+    }

+#endif

     pwmp->tim->CNT  = 0;                    /* Counter reset to zero.       */

   }

 

@@ -571,7 +608,6 @@ void pwm_lld_start(PWMDriver *pwmp) {
 

   pwmp->tim->CCER  = ccer;

   pwmp->tim->EGR   = STM32_TIM_EGR_UG;      /* Update event.                */

-  pwmp->tim->DIER |= pwmp->config->callback == NULL ? 0 : STM32_TIM_DIER_UIE;

   pwmp->tim->SR    = 0;                     /* Clear pending IRQs.          */

 #if STM32_PWM_USE_TIM1 || STM32_PWM_USE_TIM8

 #if STM32_PWM_USE_ADVANCED

@@ -655,9 +691,10 @@ void pwm_lld_stop(PWMDriver *pwmp) {
  * @pre     The PWM unit must have been activated using @p pwmStart().

  * @post    The channel is active using the specified configuration.

  * @note    The function has effect at the next cycle start.

+ * @note    Channel notification is not enabled.

  *

  * @param[in] pwmp      pointer to a @p PWMDriver object

- * @param[in] channel   PWM channel identifier (0...PWM_CHANNELS-1)

+ * @param[in] channel   PWM channel identifier (0...channels-1)

  * @param[in] width     PWM pulse width as clock pulses number

  *

  * @notapi

@@ -666,36 +703,121 @@ void pwm_lld_enable_channel(PWMDriver *pwmp,
                             pwmchannel_t channel,

                             pwmcnt_t width) {

 

-  pwmp->tim->CCR[channel] = width;                  /* New duty cycle.      */

-  /* If there is a callback defined for the channel then the associated

-     interrupt must be enabled.*/

-  if (pwmp->config->channels[channel].callback != NULL) {

-    uint32_t dier = pwmp->tim->DIER;

-    /* If the IRQ is not already enabled care must be taken to clear it,

-       it is probably already pending because the timer is running.*/

-    if ((dier & (2 << channel)) == 0) {

-      pwmp->tim->DIER = dier | (2 << channel);

-      pwmp->tim->SR   = ~(2 << channel);

-    }

-  }

+  /* Changing channel duty cycle on the fly.*/

+#if STM32_TIM_MAX_CHANNELS <= 4

+  pwmp->tim->CCR[channel] = width;

+#else

+  if (channel <= 4)

+    pwmp->tim->CCR[channel] = width;

+  else

+    pwmp->tim->CCXR[channel - 4] = width;

+#endif

 }

 

 /**

- * @brief   Disables a PWM channel.

+ * @brief   Disables a PWM channel and its notification.

  * @pre     The PWM unit must have been activated using @p pwmStart().

  * @post    The channel is disabled and its output line returned to the

  *          idle state.

  * @note    The function has effect at the next cycle start.

  *

  * @param[in] pwmp      pointer to a @p PWMDriver object

- * @param[in] channel   PWM channel identifier (0...PWM_CHANNELS-1)

+ * @param[in] channel   PWM channel identifier (0...channels-1)

  *

  * @notapi

  */

 void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel) {

 

+#if STM32_TIM_MAX_CHANNELS <= 4

   pwmp->tim->CCR[channel] = 0;

   pwmp->tim->DIER &= ~(2 << channel);

+#else

+  if (channel <= 4) {

+    pwmp->tim->CCR[channel] = 0;

+    pwmp->tim->DIER &= ~(2 << channel);

+  }

+  else

+    pwmp->tim->CCXR[channel - 4] = 0;

+#endif

+}

+

+/**

+ * @brief   Enables the periodic activation edge notification.

+ * @pre     The PWM unit must have been activated using @p pwmStart().

+ * @note    If the notification is already enabled then the call has no effect.

+ *

+ * @param[in] pwmp      pointer to a @p PWMDriver object

+ *

+ * @notapi

+ */

+void pwm_lld_enable_periodic_notification(PWMDriver *pwmp) {

+  uint32_t dier = pwmp->tim->DIER;

+

+  /* If the IRQ is not already enabled care must be taken to clear it,

+     it is probably already pending because the timer is running.*/

+  if ((dier & STM32_TIM_DIER_UIE) == 0) {

+    pwmp->tim->DIER = dier | STM32_TIM_DIER_UIE;

+    pwmp->tim->SR &= STM32_TIM_SR_UIF;

+  }

+}

+

+/**

+ * @brief   Disables the periodic activation edge notification.

+ * @pre     The PWM unit must have been activated using @p pwmStart().

+ * @note    If the notification is already disabled then the call has no effect.

+ *

+ * @param[in] pwmp      pointer to a @p PWMDriver object

+ *

+ * @notapi

+ */

+void pwm_lld_disable_periodic_notification(PWMDriver *pwmp) {

+

+  pwmp->tim->DIER &= ~STM32_TIM_DIER_UIE;

+}

+

+/**

+ * @brief   Enables a channel de-activation edge notification.

+ * @pre     The PWM unit must have been activated using @p pwmStart().

+ * @pre     The channel must have been activated using @p pwmEnableChannel().

+ * @note    If the notification is already enabled then the call has no effect.

+ *

+ * @param[in] pwmp      pointer to a @p PWMDriver object

+ * @param[in] channel   PWM channel identifier (0...channels-1)

+ *

+ * @notapi

+ */

+void pwm_lld_enable_channel_notification(PWMDriver *pwmp,

+                                         pwmchannel_t channel) {

+  uint32_t dier = pwmp->tim->DIER;

+

+#if STM32_TIM_MAX_CHANNELS > 4

+  /* Channels 4 and 5 do not support callbacks.*/

+  osalDbgAssert(channel < 4, "callback not supported");

+#endif

+

+  /* If the IRQ is not already enabled care must be taken to clear it,

+     it is probably already pending because the timer is running.*/

+  if ((dier & (2 << channel)) == 0) {

+    pwmp->tim->DIER = dier | (2 << channel);

+    pwmp->tim->SR   = ~(2 << channel);

+  }

+}

+

+/**

+ * @brief   Disables a channel de-activation edge notification.

+ * @pre     The PWM unit must have been activated using @p pwmStart().

+ * @pre     The channel must have been activated using @p pwmEnableChannel().

+ * @note    If the notification is already disabled then the call has no effect.

+ *

+ * @param[in] pwmp      pointer to a @p PWMDriver object

+ * @param[in] channel   PWM channel identifier (0...channels-1)

+ *

+ * @notapi

+ */

+void pwm_lld_disable_channel_notification(PWMDriver *pwmp,

+                                          pwmchannel_t channel) {

+

+  pwmp->tim->DIER &= ~(2 << channel);

 }

 

 #endif /* HAL_USE_PWM */

diff --git a/os/hal/ports/STM32/LLD/TIMv1/pwm_lld.h b/os/hal/ports/STM32/LLD/TIMv1/pwm_lld.h
index ca517651e..5b54847fb 100644
--- a/os/hal/ports/STM32/LLD/TIMv1/pwm_lld.h
+++ b/os/hal/ports/STM32/LLD/TIMv1/pwm_lld.h
@@ -36,9 +36,13 @@
 /**

  * @brief   Number of PWM channels per PWM driver.

  */

-#define PWM_CHANNELS                            4

+#define PWM_CHANNELS                            STM32_TIM_MAX_CHANNELS

 

 /**

+ * @name    STM32-specific PWM complementary output mode macros

+ * @{

+ */

+/**

  * @brief   Complementary output modes mask.

  * @note    This is an STM32-specific setting.

  */

@@ -67,6 +71,7 @@
  *          timers TIM1 and TIM8.

  */

 #define PWM_COMPLEMENTARY_OUTPUT_ACTIVE_LOW     0x20

+/** @} */

 

 /*===========================================================================*/

 /* Driver pre-compile time settings.                                         */

@@ -283,22 +288,27 @@
 /*===========================================================================*/

 

 /**

- * @brief PWM mode type.

+ * @brief   Type of a PWM mode.

  */

 typedef uint32_t pwmmode_t;

 

 /**

- * @brief   PWM channel type.

+ * @brief   Type of a PWM channel.

  */

 typedef uint8_t pwmchannel_t;

 

 /**

- * @brief   PWM counter type.

+ * @brief   Type of a channels mask.

+ */

+typedef uint32_t pwmchnmsk_t;

+

+/**

+ * @brief   Type of a PWM counter.

  */

 typedef uint16_t pwmcnt_t;

 

 /**

- * @brief   PWM driver channel configuration structure.

+ * @brief   Type of a PWM driver channel configuration structure.

  */

 typedef struct {

   /**

@@ -315,7 +325,7 @@ typedef struct {
 } PWMChannelConfig;

 

 /**

- * @brief   PWM driver configuration structure.

+ * @brief   Type of a PWM driver configuration structure.

  */

 typedef struct {

   /**

@@ -377,6 +387,14 @@ struct PWMDriver {
    * @brief   Current PWM period in ticks.

    */

   pwmcnt_t                  period;

+  /**

+   * @brief   Mask of the enabled channels.

+   */

+  pwmchnmsk_t               enabled;

+  /**

+   * @brief   Number of channels in this instance.

+   */

+  pwmchannel_t              channels;

 #if defined(PWM_DRIVER_EXT_FIELDS)

   PWM_DRIVER_EXT_FIELDS

 #endif

@@ -414,19 +432,6 @@ struct PWMDriver {
 #define pwm_lld_change_period(pwmp, period)                                 \

   ((pwmp)->tim->ARR = (uint16_t)((period) - 1))

 

-/**

- * @brief   Returns a PWM channel status.

- * @pre     The PWM unit must have been activated using @p pwmStart().

- *

- * @param[in] pwmp      pointer to a @p PWMDriver object

- * @param[in] channel   PWM channel identifier (0...PWM_CHANNELS-1)

- *

- * @notapi

- */

-#define pwm_lld_is_channel_enabled(pwmp, channel)                           \

-  (((pwmp)->tim->CCR[channel] != 0) ||                                      \

-   (((pwmp)->tim->DIER & (2 << channel)) != 0))

-

 /*===========================================================================*/

 /* External declarations.                                                    */

 /*===========================================================================*/

@@ -469,6 +474,12 @@ extern "C" {
                               pwmchannel_t channel,

                               pwmcnt_t width);

   void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel);

+  void pwm_lld_enable_periodic_notification(PWMDriver *pwmp);

+  void pwm_lld_disable_periodic_notification(PWMDriver *pwmp);

+  void pwm_lld_enable_channel_notification(PWMDriver *pwmp,

+                                           pwmchannel_t channel);

+  void pwm_lld_disable_channel_notification(PWMDriver *pwmp,

+                                            pwmchannel_t channel);

 #ifdef __cplusplus

 }

 #endif

diff --git a/os/hal/ports/STM32/LLD/TIMv1/stm32_tim.h b/os/hal/ports/STM32/LLD/TIMv1/stm32_tim.h
index 1e0c9ecbb..9770846c6 100644
--- a/os/hal/ports/STM32/LLD/TIMv1/stm32_tim.h
+++ b/os/hal/ports/STM32/LLD/TIMv1/stm32_tim.h
@@ -431,8 +431,7 @@ typedef struct {
   volatile uint32_t     DMAR;

   volatile uint32_t     OR;

   volatile uint32_t     CCMR3;

-  volatile uint32_t     CCR5;

-  volatile uint32_t     CCR6;

+  volatile uint32_t     CCXR[2];

 } stm32_tim_t;

 

 /*===========================================================================*/

diff --git a/os/hal/ports/STM32/STM32F0xx/stm32_registry.h b/os/hal/ports/STM32/STM32F0xx/stm32_registry.h
index f6d183a8d..a00ff3960 100644
--- a/os/hal/ports/STM32/STM32F0xx/stm32_registry.h
+++ b/os/hal/ports/STM32/STM32F0xx/stm32_registry.h
@@ -106,6 +106,8 @@
 #define STM32_HAS_SPI6                      FALSE

 

 /* TIM attributes.*/

+#define STM32_TIM_MAX_CHANNELS              4

+

 #define STM32_HAS_TIM1                      TRUE

 #define STM32_TIM1_IS_32BITS                FALSE

 #define STM32_TIM1_CHANNELS                 4

@@ -236,6 +238,8 @@
 #define STM32_HAS_SPI6                      FALSE

 

 /* TIM attributes.*/

+#define STM32_TIM_MAX_CHANNELS              4

+

 #define STM32_HAS_TIM1                      TRUE

 #define STM32_TIM1_IS_32BITS                FALSE

 #define STM32_TIM1_CHANNELS                 4

@@ -363,6 +367,8 @@
 #define STM32_HAS_SPI6                      FALSE

 

 /* TIM attributes.*/

+#define STM32_TIM_MAX_CHANNELS              4

+

 #define STM32_HAS_TIM1                      TRUE

 #define STM32_TIM1_IS_32BITS                FALSE

 #define STM32_TIM1_CHANNELS                 4

diff --git a/os/hal/ports/STM32/STM32F4xx/stm32_registry.h b/os/hal/ports/STM32/STM32F4xx/stm32_registry.h
index 8f2d9c442..50a082b33 100644
--- a/os/hal/ports/STM32/STM32F4xx/stm32_registry.h
+++ b/os/hal/ports/STM32/STM32F4xx/stm32_registry.h
@@ -193,6 +193,8 @@
 #endif /* !(defined(STM32F427_437xx) || defined(STM32F429_439xx)) */

 

 /* TIM attributes.*/

+#define STM32_TIM_MAX_CHANNELS              4

+

 #define STM32_HAS_TIM1                      TRUE

 #define STM32_TIM1_IS_32BITS                FALSE

 #define STM32_TIM1_CHANNELS                 4

diff --git a/os/hal/src/pwm.c b/os/hal/src/pwm.c
index c10fda3ce..eb35e434e 100644
--- a/os/hal/src/pwm.c
+++ b/os/hal/src/pwm.c
@@ -73,6 +73,8 @@ void pwmObjectInit(PWMDriver *pwmp) {
 

   pwmp->state    = PWM_STOP;

   pwmp->config   = NULL;

+  pwmp->enabled  = 0;

+  pwmp->channels = 0;

 #if defined(PWM_DRIVER_EXT_INIT_HOOK)

   PWM_DRIVER_EXT_INIT_HOOK(pwmp);

 #endif

@@ -117,7 +119,8 @@ void pwmStop(PWMDriver *pwmp) {
   osalDbgAssert((pwmp->state == PWM_STOP) || (pwmp->state == PWM_READY),

                 "invalid state");

   pwm_lld_stop(pwmp);

-  pwmp->state = PWM_STOP;

+  pwmp->enabled = 0;

+  pwmp->state   = PWM_STOP;

   osalSysUnlock();

 }

 

@@ -155,7 +158,7 @@ void pwmChangePeriod(PWMDriver *pwmp, pwmcnt_t period) {
  *          or immediately (fallback implementation).

  *

  * @param[in] pwmp      pointer to a @p PWMDriver object

- * @param[in] channel   PWM channel identifier (0...PWM_CHANNELS-1)

+ * @param[in] channel   PWM channel identifier (0...channels-1)

  * @param[in] width     PWM pulse width as clock pulses number

  *

  * @api

@@ -164,16 +167,19 @@ void pwmEnableChannel(PWMDriver *pwmp,
                       pwmchannel_t channel,

                       pwmcnt_t width) {

 

-  osalDbgCheck((pwmp != NULL) && (channel < PWM_CHANNELS));

+  osalDbgCheck((pwmp != NULL) && (channel < pwmp->channels));

 

   osalSysLock();

+

   osalDbgAssert(pwmp->state == PWM_READY, "not ready");

-  pwm_lld_enable_channel(pwmp, channel, width);

+

+  pwmEnableChannelI(pwmp, channel, width);

+

   osalSysUnlock();

 }

 

 /**

- * @brief   Disables a PWM channel.

+ * @brief   Disables a PWM channel and its notification.

  * @pre     The PWM unit must have been activated using @p pwmStart().

  * @post    The channel is disabled and its output line returned to the

  *          idle state.

@@ -182,17 +188,122 @@ void pwmEnableChannel(PWMDriver *pwmp,
  *          or immediately (fallback implementation).

  *

  * @param[in] pwmp      pointer to a @p PWMDriver object

- * @param[in] channel   PWM channel identifier (0...PWM_CHANNELS-1)

+ * @param[in] channel   PWM channel identifier (0...channels-1)

  *

  * @api

  */

 void pwmDisableChannel(PWMDriver *pwmp, pwmchannel_t channel) {

 

-  osalDbgCheck((pwmp != NULL) && (channel < PWM_CHANNELS));

+  osalDbgCheck((pwmp != NULL) && (channel < pwmp->channels));

+

+  osalSysLock();

+

+  osalDbgAssert(pwmp->state == PWM_READY, "not ready");

+

+  pwmDisableChannelI(pwmp, channel);

+

+  osalSysUnlock();

+}

+

+/**

+ * @brief   Enables the periodic activation edge notification.

+ * @pre     The PWM unit must have been activated using @p pwmStart().

+ * @note    If the notification is already enabled then the call has no effect.

+ *

+ * @param[in] pwmp      pointer to a @p PWMDriver object

+ *

+ * @api

+ */

+void pwmEnablePeriodicNotification(PWMDriver *pwmp) {

+

+  osalDbgCheck(pwmp != NULL);

+

+  osalSysLock();

+

+  osalDbgAssert(pwmp->state == PWM_READY, "not ready");

+  osalDbgAssert(pwmp->config->callback != NULL, "undefined periodic callback");

+

+  pwm_lld_enable_periodic_notification(pwmp);

+

+  osalSysUnlock();

+}

+

+/**

+ * @brief   Disables the periodic activation edge notification.

+ * @pre     The PWM unit must have been activated using @p pwmStart().

+ * @note    If the notification is already disabled then the call has no effect.

+ *

+ * @param[in] pwmp      pointer to a @p PWMDriver object

+ *

+ * @api

+ */

+void pwmDisablePeriodicNotification(PWMDriver *pwmp) {

+

+  osalDbgCheck(pwmp != NULL);

+

+  osalSysLock();

+

+  osalDbgAssert(pwmp->state == PWM_READY, "not ready");

+  osalDbgAssert(pwmp->config->callback != NULL, "undefined periodic callback");

+

+  pwm_lld_disable_periodic_notification(pwmp);

+

+  osalSysUnlock();

+}

+

+/**

+ * @brief   Enables a channel de-activation edge notification.

+ * @pre     The PWM unit must have been activated using @p pwmStart().

+ * @pre     The channel must have been activated using @p pwmEnableChannel().

+ * @note    If the notification is already enabled then the call has no effect.

+ *

+ * @param[in] pwmp      pointer to a @p PWMDriver object

+ * @param[in] channel   PWM channel identifier (0...channels-1)

+ *

+ * @api

+ */

+void pwmEnableChannelNotification(PWMDriver *pwmp, pwmchannel_t channel) {

+

+  osalDbgCheck((pwmp != NULL) && (channel < pwmp->channels));

+

+  osalSysLock();

+

+  osalDbgAssert(pwmp->state == PWM_READY, "not ready");

+  osalDbgAssert((pwmp->enabled & (1 << channel)) != 0,

+                "channel not enabled");

+  osalDbgAssert(pwmp->config->channels[channel].callback != NULL,

+                "undefined channel callback");

+

+  pwm_lld_enable_channel_notification(pwmp, channel);

+

+  osalSysUnlock();

+}

+

+/**

+ * @brief   Disables a channel de-activation edge notification.

+ * @pre     The PWM unit must have been activated using @p pwmStart().

+ * @pre     The channel must have been activated using @p pwmEnableChannel().

+ * @note    If the notification is already disabled then the call has no effect.

+ *

+ * @param[in] pwmp      pointer to a @p PWMDriver object

+ * @param[in] channel   PWM channel identifier (0...channels-1)

+ *

+ * @api

+ */

+void pwmDisableChannelNotification(PWMDriver *pwmp, pwmchannel_t channel) {

+

+  osalDbgCheck((pwmp != NULL) && (channel < pwmp->channels));

 

   osalSysLock();

+

   osalDbgAssert(pwmp->state == PWM_READY, "not ready");

-  pwm_lld_disable_channel(pwmp, channel);

+  osalDbgAssert((pwmp->enabled & (1 << channel)) != 0,

+                "channel not enabled");

+  osalDbgAssert(pwmp->config->channels[channel].callback != NULL,

+                "undefined channel callback");

+

+  pwm_lld_disable_channel_notification(pwmp, channel);

+

   osalSysUnlock();

 }

 

diff --git a/testhal/STM32/STM32F0xx/PWM-ICU/main.c b/testhal/STM32/STM32F0xx/PWM-ICU/main.c
index fa4c4de8c..661635c95 100644
--- a/testhal/STM32/STM32F0xx/PWM-ICU/main.c
+++ b/testhal/STM32/STM32F0xx/PWM-ICU/main.c
@@ -94,6 +94,7 @@ int main(void) {
    * The two pins have to be externally connected together.

    */

   pwmStart(&PWMD1, &pwmcfg);

+  pwmEnablePeriodicNotification(&PWMD1);

   palSetPadMode(GPIOA, 8, PAL_MODE_ALTERNATE(2));

   icuStart(&ICUD3, &icucfg);

   palSetPadMode(GPIOA, 6, PAL_MODE_ALTERNATE(1));

@@ -104,6 +105,7 @@ int main(void) {
    * Starts the PWM channel 0 using 75% duty cycle.

    */

   pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 7500));

+  pwmEnableChannelNotification(&PWMD1, 0);

   chThdSleepMilliseconds(5000);

 

   /*

diff --git a/testhal/STM32/STM32F1xx/PWM-ICU/main.c b/testhal/STM32/STM32F1xx/PWM-ICU/main.c
index eecd5b2ad..92805fec4 100644
--- a/testhal/STM32/STM32F1xx/PWM-ICU/main.c
+++ b/testhal/STM32/STM32F1xx/PWM-ICU/main.c
@@ -92,6 +92,7 @@ int main(void) {
    * Initializes the PWM driver 1 and ICU driver 4.

    */

   pwmStart(&PWMD1, &pwmcfg);

+  pwmEnablePeriodicNotification(&PWMD1);

   palSetPadMode(IOPORT1, 8, PAL_MODE_STM32_ALTERNATE_PUSHPULL);

   icuStart(&ICUD4, &icucfg);

   icuEnable(&ICUD4);

@@ -101,6 +102,7 @@ int main(void) {
    * Starts the PWM channel 0 using 75% duty cycle.

    */

   pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 7500));

+  pwmEnableChannelNotification(&PWMD1, 0);

   chThdSleepMilliseconds(5000);

 

   /*

diff --git a/testhal/STM32/STM32F30x/PWM-ICU/debug/STM32F30x-PWM_ICU (OpenOCD, Flash and Run).launch b/testhal/STM32/STM32F30x/PWM-ICU/debug/STM32F30x-PWM_ICU (OpenOCD, Flash and Run).launch
new file mode 100644
index 000000000..3b55accd1
--- /dev/null
+++ b/testhal/STM32/STM32F30x/PWM-ICU/debug/STM32F30x-PWM_ICU (OpenOCD, Flash and Run).launch
@@ -0,0 +1,52 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>

+<launchConfiguration type="org.eclipse.cdt.debug.gdbjtag.launchConfigurationType">

+<stringAttribute key="bad_container_name" value="\STM32F30x-PWM-ICU\debug"/>

+<intAttribute key="org.eclipse.cdt.debug.gdbjtag.core.delay" value="1"/>

+<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doHalt" value="true"/>

+<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doReset" value="true"/>

+<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.imageFileName" value=""/>

+<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.imageOffset" value=""/>

+<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.initCommands" value="set remotetimeout 20&#13;&#10;monitor reset init&#13;&#10;monitor sleep 50&#13;&#10;"/>

+<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.ipAddress" value="localhost"/>

+<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.jtagDevice" value="Generic TCP/IP"/>

+<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.loadImage" value="true"/>

+<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.loadSymbols" value="true"/>

+<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.pcRegister" value=""/>

+<intAttribute key="org.eclipse.cdt.debug.gdbjtag.core.portNumber" value="3333"/>

+<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.runCommands" value=""/>

+<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setPcRegister" value="false"/>

+<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setResume" value="true"/>

+<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setStopAt" value="true"/>

+<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.stopAt" value="main"/>

+<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.symbolsFileName" value=""/>

+<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.symbolsOffset" value=""/>

+<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useFileForImage" value="false"/>

+<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useFileForSymbols" value="false"/>

+<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useProjBinaryForImage" value="true"/>

+<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useProjBinaryForSymbols" value="true"/>

+<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useRemoteTarget" value="true"/>

+<stringAttribute key="org.eclipse.cdt.debug.mi.core.DEBUG_NAME" value="arm-none-eabi-gdb"/>

+<stringAttribute key="org.eclipse.cdt.debug.mi.core.commandFactory" value="Standard"/>

+<stringAttribute key="org.eclipse.cdt.debug.mi.core.protocol" value="mi"/>

+<booleanAttribute key="org.eclipse.cdt.debug.mi.core.verboseMode" value="false"/>

+<stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="arm-none-eabi-gdb"/>

+<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>

+<stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>

+<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_REGISTER_GROUPS" value=""/>

+<stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;contentList/&gt;"/>

+<stringAttribute key="org.eclipse.cdt.launch.GLOBAL_VARIABLES" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;globalVariableList/&gt;&#13;&#10;"/>

+<stringAttribute key="org.eclipse.cdt.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;memoryBlockExpressionList/&gt;&#13;&#10;"/>

+<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="./build/ch.elf"/>

+<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="STM32F30x-PWM-ICU"/>

+<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="true"/>

+<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="0.1093754934"/>

+<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">

+<listEntry value="/STM32F30x-PWM-ICU"/>

+</listAttribute>

+<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">

+<listEntry value="4"/>

+</listAttribute>

+<listAttribute key="org.eclipse.debug.ui.favoriteGroups">

+<listEntry value="org.eclipse.debug.ui.launchGroup.debug"/>

+</listAttribute>

+</launchConfiguration>

diff --git a/testhal/STM32/STM32F30x/PWM-ICU/main.c b/testhal/STM32/STM32F30x/PWM-ICU/main.c
index 96444baef..f0af2504a 100644
--- a/testhal/STM32/STM32F30x/PWM-ICU/main.c
+++ b/testhal/STM32/STM32F30x/PWM-ICU/main.c
@@ -89,6 +89,7 @@ int main(void) {
    * The two pins have to be externally connected together.

    */

   pwmStart(&PWMD4, &pwmcfg);

+  pwmEnablePeriodicNotification(&PWMD4);

   palSetPadMode(GPIOD, 12, PAL_MODE_ALTERNATE(2));

   icuStart(&ICUD3, &icucfg);

   palSetPadMode(GPIOC, 6, PAL_MODE_ALTERNATE(2));

@@ -99,6 +100,7 @@ int main(void) {
    * Starts the PWM channel 0 using 75% duty cycle.

    */

   pwmEnableChannel(&PWMD4, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD4, 7500));

+  pwmEnableChannelNotification(&PWMD4, 0);

   chThdSleepMilliseconds(5000);

 

   /*

diff --git a/testhal/STM32/STM32F37x/PWM-ICU/main.c b/testhal/STM32/STM32F37x/PWM-ICU/main.c
index ccc877f3f..0178af14a 100644
--- a/testhal/STM32/STM32F37x/PWM-ICU/main.c
+++ b/testhal/STM32/STM32F37x/PWM-ICU/main.c
@@ -89,6 +89,7 @@ int main(void) {
    * The two pins have to be externally connected together.

    */

   pwmStart(&PWMD5, &pwmcfg);

+  pwmEnablePeriodicNotification(&PWMD5);

   palSetPadMode(GPIOC, 0, PAL_MODE_ALTERNATE(2));

   icuStart(&ICUD3, &icucfg);

   palSetPadMode(GPIOC, 6, PAL_MODE_ALTERNATE(2));

@@ -99,6 +100,7 @@ int main(void) {
    * Starts the PWM channel 0 using 75% duty cycle.

    */

   pwmEnableChannel(&PWMD5, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD5, 7500));

+  pwmEnableChannelNotification(&PWMD5, 0);

   chThdSleepMilliseconds(5000);

 

   /*

diff --git a/testhal/STM32/STM32F4xx/PWM-ICU/main.c b/testhal/STM32/STM32F4xx/PWM-ICU/main.c
index a964d221e..64da60b1d 100644
--- a/testhal/STM32/STM32F4xx/PWM-ICU/main.c
+++ b/testhal/STM32/STM32F4xx/PWM-ICU/main.c
@@ -89,6 +89,7 @@ int main(void) {
    * The two pins have to be externally connected together.

    */

   pwmStart(&PWMD1, &pwmcfg);

+  pwmEnablePeriodicNotification(&PWMD1);

   palSetPadMode(GPIOA, 8, PAL_MODE_ALTERNATE(1));

   icuStart(&ICUD3, &icucfg);

   palSetPadMode(GPIOC, 6, PAL_MODE_ALTERNATE(2));

@@ -99,6 +100,7 @@ int main(void) {
    * Starts the PWM channel 0 using 75% duty cycle.

    */

   pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 7500));

+  pwmEnableChannelNotification(&PWMD1, 0);

   chThdSleepMilliseconds(5000);

 

   /*

diff --git a/testhal/STM32/STM32L1xx/PWM-ICU/.cproject b/testhal/STM32/STM32L1xx/PWM-ICU/.cproject
index b96ec18ee..077ea250c 100644
--- a/testhal/STM32/STM32L1xx/PWM-ICU/.cproject
+++ b/testhal/STM32/STM32L1xx/PWM-ICU/.cproject
@@ -48,4 +48,5 @@
 		</scannerConfigBuildInfo>

 	</storageModule>

 	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>

+	<storageModule moduleId="refreshScope"/>

 </cproject>

diff --git a/testhal/STM32/STM32L1xx/PWM-ICU/main.c b/testhal/STM32/STM32L1xx/PWM-ICU/main.c
index 9e5955e4a..654f23379 100644
--- a/testhal/STM32/STM32L1xx/PWM-ICU/main.c
+++ b/testhal/STM32/STM32L1xx/PWM-ICU/main.c
@@ -89,6 +89,7 @@ int main(void) {
    * The two pins have to be externally connected together.

    */

   pwmStart(&PWMD2, &pwmcfg);

+  pwmEnablePeriodicNotification(&PWMD2);

   palSetPadMode(GPIOA, 15, PAL_MODE_ALTERNATE(1));

   icuStart(&ICUD3, &icucfg);

   palSetPadMode(GPIOC, 6, PAL_MODE_ALTERNATE(2));

@@ -99,6 +100,7 @@ int main(void) {
    * Starts the PWM channel 0 using 75% duty cycle.

    */

   pwmEnableChannel(&PWMD2, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD2, 7500));

+  pwmEnableChannelNotification(&PWMD2, 0);

   chThdSleepMilliseconds(5000);

 

   /*