git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7100 35acf78f-673a-0410-8e92-d51de3d6d3f4

22 files changed, 1005 insertions, 1005 deletions

diff --git a/os/hal/ports/AVR/adc_lld.c b/os/hal/ports/AVR/adc_lld.c
index e41a2122e..02ea602e9 100644
--- a/os/hal/ports/AVR/adc_lld.c
+++ b/os/hal/ports/AVR/adc_lld.c
@@ -1,5 +1,5 @@
 /*

-    ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio

+    ChibiOS/HAL - Copyright (C) 2006-2014 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.

diff --git a/os/hal/ports/AVR/adc_lld.h b/os/hal/ports/AVR/adc_lld.h
index 0126f2d3e..ce795a462 100644
--- a/os/hal/ports/AVR/adc_lld.h
+++ b/os/hal/ports/AVR/adc_lld.h
@@ -1,5 +1,5 @@
 /*

-    ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio

+    ChibiOS/HAL - Copyright (C) 2006-2014 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.

diff --git a/os/hal/ports/AVR/avr_pins.h b/os/hal/ports/AVR/avr_pins.h
index fbdbfb703..956878f50 100644
--- a/os/hal/ports/AVR/avr_pins.h
+++ b/os/hal/ports/AVR/avr_pins.h
@@ -1,94 +1,94 @@
-/*
-    ChibiOS/RT - Copyright (C) 2006-2014 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.
-*/
-
-#ifndef _AVR_PINS_H_
-#define _AVR_PINS_H_
-
-#include <avr/io.h>
-
-#if AVR_SPI_USE_SPI1
-
-#if defined(__AVR_ATmega644__) || defined(__AVR_ATmega644P__)
-  #define PIN_SPI1            PINB
-  #define PORT_SPI1           PORTB
-  #define DDR_SPI1            DDRB
-  #define SPI1_SS             4
-  #define SPI1_SCK            7
-  #define SPI1_MOSI           5
-  #define SPI1_MISO           6
-#elif defined(__AVR_ATmega328P__)
-  #define PIN_SPI1            PINB
-  #define PORT_SPI1           PORTB
-  #define DDR_SPI1            DDRB
-  #define SPI1_SS             2
-  #define SPI1_SCK            5
-  #define SPI1_MOSI           3
-  #define SPI1_MISO           4
-#elif defined(__AVR_ATmega2560__) || \
-      defined(__AVR_ATmega1280__) || \
-      defined(__AVR_ATmega128__)
-  #define PIN_SPI1            PINB
-  #define PORT_SPI1           PORTB
-  #define DDR_SPI1            DDRB
-  #define SPI1_SS             0
-  #define SPI1_SCK            1
-  #define SPI1_MOSI           2
-  #define SPI1_MISO           3
-#elif defined(__AVR_AT90CAN128__) || \
-      defined(__AVR_AT90CAN64__)  || \
-      defined(__AVR_AT90CAN32__)
-  #define PIN_SPI1            PINB
-  #define PORT_SPI1           PORTB
-  #define DDR_SPI1            DDRB
-  #define SPI1_SS             0
-  #define SPI1_SCK            1
-  #define SPI1_MOSI           2
-  #define SPI1_MISO           3
-#else
-  #warning "Device not supported by SPI driver"
-#endif
-
-#endif /* AVR_SPI_USE_SPI1 */
-
-#if AVR_ADC_USE_ADC1
-
-#if defined(__AVR_ATmega644__) || defined(__AVR_ATmega644P__)
-  #define PINADC              PINA
-  #define PORTADC             PORTA
-  #define DDRADC              DDRA
-#elif defined(__AVR_ATmega328P__)
-  #define PINADC              PINC
-  #define PORTADC             PORTC
-  #define DDRADC              DDRC
-#elif defined(__AVR_ATmega2560__) || \
-      defined(__AVR_ATmega1280__) || \
-      defined(__AVR_ATmega128__)
-  #define PINADC              PINF
-  #define PORTADC             PORTF
-  #define DDRADC              DDRF
-#elif defined(__AVR_AT90CAN128__) || \
-      defined(__AVR_AT90CAN64__)  || \
-      defined(__AVR_AT90CAN32__)
-  #define PINADC              PINF
-  #define PORTADC             PORTF
-  #define DDRADC              DDRF
-#else
-  #warning "Device not supported by ADC driver"
-#endif
-
-#endif /* AVR_ADC_USE_ADC1 */
-
-#endif /* _AVR_PINS_H_ */
+/*

+    ChibiOS/HAL - Copyright (C) 2006-2014 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.

+*/

+

+#ifndef _AVR_PINS_H_

+#define _AVR_PINS_H_

+

+#include <avr/io.h>

+

+#if AVR_SPI_USE_SPI1

+

+#if defined(__AVR_ATmega644__) || defined(__AVR_ATmega644P__)

+  #define PIN_SPI1            PINB

+  #define PORT_SPI1           PORTB

+  #define DDR_SPI1            DDRB

+  #define SPI1_SS             4

+  #define SPI1_SCK            7

+  #define SPI1_MOSI           5

+  #define SPI1_MISO           6

+#elif defined(__AVR_ATmega328P__)

+  #define PIN_SPI1            PINB

+  #define PORT_SPI1           PORTB

+  #define DDR_SPI1            DDRB

+  #define SPI1_SS             2

+  #define SPI1_SCK            5

+  #define SPI1_MOSI           3

+  #define SPI1_MISO           4

+#elif defined(__AVR_ATmega2560__) || \

+      defined(__AVR_ATmega1280__) || \

+      defined(__AVR_ATmega128__)

+  #define PIN_SPI1            PINB

+  #define PORT_SPI1           PORTB

+  #define DDR_SPI1            DDRB

+  #define SPI1_SS             0

+  #define SPI1_SCK            1

+  #define SPI1_MOSI           2

+  #define SPI1_MISO           3

+#elif defined(__AVR_AT90CAN128__) || \

+      defined(__AVR_AT90CAN64__)  || \

+      defined(__AVR_AT90CAN32__)

+  #define PIN_SPI1            PINB

+  #define PORT_SPI1           PORTB

+  #define DDR_SPI1            DDRB

+  #define SPI1_SS             0

+  #define SPI1_SCK            1

+  #define SPI1_MOSI           2

+  #define SPI1_MISO           3

+#else

+  #warning "Device not supported by SPI driver"

+#endif

+

+#endif /* AVR_SPI_USE_SPI1 */

+

+#if AVR_ADC_USE_ADC1

+

+#if defined(__AVR_ATmega644__) || defined(__AVR_ATmega644P__)

+  #define PINADC              PINA

+  #define PORTADC             PORTA

+  #define DDRADC              DDRA

+#elif defined(__AVR_ATmega328P__)

+  #define PINADC              PINC

+  #define PORTADC             PORTC

+  #define DDRADC              DDRC

+#elif defined(__AVR_ATmega2560__) || \

+      defined(__AVR_ATmega1280__) || \

+      defined(__AVR_ATmega128__)

+  #define PINADC              PINF

+  #define PORTADC             PORTF

+  #define DDRADC              DDRF

+#elif defined(__AVR_AT90CAN128__) || \

+      defined(__AVR_AT90CAN64__)  || \

+      defined(__AVR_AT90CAN32__)

+  #define PINADC              PINF

+  #define PORTADC             PORTF

+  #define DDRADC              DDRF

+#else

+  #warning "Device not supported by ADC driver"

+#endif

+

+#endif /* AVR_ADC_USE_ADC1 */

+

+#endif /* _AVR_PINS_H_ */

diff --git a/os/hal/ports/AVR/avr_timers.h b/os/hal/ports/AVR/avr_timers.h
index 5eb08cace..26b891937 100644
--- a/os/hal/ports/AVR/avr_timers.h
+++ b/os/hal/ports/AVR/avr_timers.h
@@ -1,48 +1,48 @@
-/*
-    ChibiOS/RT - Copyright (C) 2006-2014 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.
-*/
-
-#ifndef _AVR_TIMERS_H_
-#define _AVR_TIMERS_H_
-
-#if ((AVR_GPT_USE_TIM1 && AVR_PWM_USE_TIM1) || \
-     (AVR_GPT_USE_TIM1 && AVR_ICU_USE_TIM1) || \
-     (AVR_PWM_USE_TIM1 && AVR_ICU_USE_TIM1))
-  #error "Timer 1 cannot simultaneously be used by multiple drivers."
-#endif
-
-#if ((AVR_GPT_USE_TIM2 && AVR_PWM_USE_TIM2))
-  #error "Timer 2 cannot simultaneously be used by multiple drivers."
-#endif
-
-#if ((AVR_GPT_USE_TIM3 && AVR_PWM_USE_TIM3) || \
-     (AVR_GPT_USE_TIM3 && AVR_ICU_USE_TIM3) || \
-     (AVR_PWM_USE_TIM3 && AVR_ICU_USE_TIM3))
-  #error "Timer 3 cannot simultaneously be used by multiple drivers."
-#endif
-
-#if ((AVR_GPT_USE_TIM4 && AVR_PWM_USE_TIM4) || \
-     (AVR_GPT_USE_TIM4 && AVR_ICU_USE_TIM4) || \
-     (AVR_PWM_USE_TIM4 && AVR_ICU_USE_TIM4))
-  #error "Timer 4 cannot simultaneously be used by multiple drivers."
-#endif
-
-#if ((AVR_GPT_USE_TIM5 && AVR_PWM_USE_TIM5) || \
-     (AVR_GPT_USE_TIM5 && AVR_ICU_USE_TIM5) || \
-     (AVR_PWM_USE_TIM5 && AVR_ICU_USE_TIM5))
-  #error "Timer 5 cannot simultaneously be used by multiple drivers."
-#endif
-
-#endif /* _AVR_TIMERS_H_ */
+/*

+    ChibiOS/HAL - Copyright (C) 2006-2014 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.

+*/

+

+#ifndef _AVR_TIMERS_H_

+#define _AVR_TIMERS_H_

+

+#if ((AVR_GPT_USE_TIM1 && AVR_PWM_USE_TIM1) || \

+     (AVR_GPT_USE_TIM1 && AVR_ICU_USE_TIM1) || \

+     (AVR_PWM_USE_TIM1 && AVR_ICU_USE_TIM1))

+  #error "Timer 1 cannot simultaneously be used by multiple drivers."

+#endif

+

+#if ((AVR_GPT_USE_TIM2 && AVR_PWM_USE_TIM2))

+  #error "Timer 2 cannot simultaneously be used by multiple drivers."

+#endif

+

+#if ((AVR_GPT_USE_TIM3 && AVR_PWM_USE_TIM3) || \

+     (AVR_GPT_USE_TIM3 && AVR_ICU_USE_TIM3) || \

+     (AVR_PWM_USE_TIM3 && AVR_ICU_USE_TIM3))

+  #error "Timer 3 cannot simultaneously be used by multiple drivers."

+#endif

+

+#if ((AVR_GPT_USE_TIM4 && AVR_PWM_USE_TIM4) || \

+     (AVR_GPT_USE_TIM4 && AVR_ICU_USE_TIM4) || \

+     (AVR_PWM_USE_TIM4 && AVR_ICU_USE_TIM4))

+  #error "Timer 4 cannot simultaneously be used by multiple drivers."

+#endif

+

+#if ((AVR_GPT_USE_TIM5 && AVR_PWM_USE_TIM5) || \

+     (AVR_GPT_USE_TIM5 && AVR_ICU_USE_TIM5) || \

+     (AVR_PWM_USE_TIM5 && AVR_ICU_USE_TIM5))

+  #error "Timer 5 cannot simultaneously be used by multiple drivers."

+#endif

+

+#endif /* _AVR_TIMERS_H_ */

diff --git a/os/hal/ports/AVR/gpt_lld.c b/os/hal/ports/AVR/gpt_lld.c
index 7eca439b0..4c97b7785 100644
--- a/os/hal/ports/AVR/gpt_lld.c
+++ b/os/hal/ports/AVR/gpt_lld.c
@@ -1,350 +1,350 @@
-/*
-    ChibiOS/RT - Copyright (C) 2006-2014 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 driver is based on the work done by Matteo Serva available at
-   http://github.com/matteoserva/ChibiOS-AVR
-*/
-
-/**
- * @file    AVR/gpt_lld.c
- * @brief   AVR GPT driver subsystem low level driver.
- *
- * @addtogroup GPT
- * @{
- */
-
-#include "hal.h"
-
-#if HAL_USE_GPT || defined(__DOXYGEN__)
-
-/*===========================================================================*/
-/* Driver local definitions.                                                 */
-/*===========================================================================*/
-
-#define PRESCALER_SIZE_BASE       5
-#define PRESCALER_SIZE_EXTENDED   7
-
-// FIXME: could use better names here!
-typedef struct {
-  volatile uint8_t *tccra;
-  volatile uint8_t *tccrb;
-  volatile uint8_t *ocr1;
-  volatile uint8_t *ocr2;
-  volatile uint8_t *tcnt1;
-  volatile uint8_t *tcnt2;
-  volatile uint8_t *tifr;
-  volatile uint8_t *timsk;
-} timer_registers_t;
-
-const timer_registers_t regs_table[] = {
-#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__)
-  { &TCCR1A, &TCCR1B, &OCR1AH, &OCR1AL, &TCNT1H, &TCNT1L, &TIFR1, &TIMSK1 },
-#endif
-#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__)
-  { &TCCR2A, &TCCR2B, &OCR2A, &OCR2A, &TCNT2, &TCNT2, &TIFR2, &TIMSK2 },
-#endif
-#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__)
-  { &TCCR3A, &TCCR3B, &OCR3AH, &OCR3AL, &TCNT3H, &TCNT3L, &TIFR3, &TIMSK3 },
-#endif
-#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__)
-  { &TCCR4A, &TCCR4B, &OCR4AH, &OCR4AL, &TCNT4H, &TCNT4L, &TIFR4, &TIMSK4 },
-#endif
-#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__)
-  { &TCCR5A, &TCCR5B, &OCR5AH, &OCR5AL, &TCNT5H, &TCNT5L, &TIFR5, &TIMSK5 },
-#endif
-};
-
-/*===========================================================================*/
-/* Driver exported variables.                                                */
-/*===========================================================================*/
-
-#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__)
-GPTDriver GPTD1;
-#endif
-#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__)
-GPTDriver GPTD2;
-#endif
-#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__)
-GPTDriver GPTD3;
-#endif
-#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__)
-GPTDriver GPTD4;
-#endif
-#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__)
-GPTDriver GPTD5;
-#endif
-
-/*===========================================================================*/
-/* Driver local variables.                                                   */
-/*===========================================================================*/
-
-static uint16_t ratio_base[] = { 1024, 256, 64, 8, 1 };
-static uint8_t  clock_source_base[]= { 5, 4, 3, 2, 1 };
-static uint16_t ratio_extended[] = { 1024, 256, 128, 64, 32, 8, 1 };
-static uint8_t  clock_source_extended[] = { 7, 6, 5, 4, 3, 2, 1 };
-
-/*===========================================================================*/
-/* Driver local functions.                                                   */
-/*===========================================================================*/
-
-static uint8_t prescaler(uint16_t freq, uint16_t *ratio, uint8_t n)
-{
-  uint8_t i;
-  for (i = 0; i < n; ++i) {
-    uint32_t result = F_CPU / ratio[i] / freq;
-    if (result > 256UL)
-       return i - 1;
-    if ((result * ratio[i] * freq) == F_CPU)
-      return i;
-  }
-}
-
-static void gpt_lld_serve_interrupt(GPTDriver *gptp)
-{
-  gptp->counter++;
-  if (gptp->counter == gptp->period) {
-    gptp->counter = 0;
-    if (gptp->state == GPT_ONESHOT) {
-      gptp->state = GPT_READY;             /* Back in GPT_READY state.     */
-      gpt_lld_stop_timer(gptp);            /* Timer automatically stopped. */
-    }
-    gptp->callback(gptp);
-  }
-}
-
-static void gpt_lld_dummy_callback(GPTDriver *gptp)
-{
-}
-
-static uint8_t getTimerIndex(GPTDriver *gptp)
-{
-  uint8_t index = 0;
-#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__)
-  if (gptp == &GPTD1) return index;
-  else index++;
-#endif
-#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__)
-  if (gptp == &GPTD2) return index;
-  else index++;
-#endif
-#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__)
-  if (gptp == &GPTD3) return index;
-  else index++;
-#endif
-#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__)
-  if (gptp == &GPTD4) return index;
-  else index++;
-#endif
-#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__)
-  if (gptp == &GPTD5) return index;
-  else index++;
-#endif
-}
-
-/*===========================================================================*/
-/* Driver interrupt handlers.                                                */
-/*===========================================================================*/
-
-#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__)
-OSAL_IRQ_HANDLER(TIMER1_COMPA_vect)
-{
-  OSAL_IRQ_PROLOGUE();
-  gpt_lld_serve_interrupt(&GPTD1);
-  OSAL_IRQ_EPILOGUE();
-}
-#endif
-
-#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__)
-OSAL_IRQ_HANDLER(TIMER2_COMPA_vect)
-{
-  OSAL_IRQ_PROLOGUE();
-  gpt_lld_serve_interrupt(&GPTD2);
-  OSAL_IRQ_EPILOGUE();
-}
-#endif
-
-#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__)
-OSAL_IRQ_HANDLER(TIMER3_COMPA_vect)
-{
-  OSAL_IRQ_PROLOGUE();
-  gpt_lld_serve_interrupt(&GPTD3);
-  OSAL_IRQ_EPILOGUE();
-}
-#endif
-
-#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__)
-OSAL_IRQ_HANDLER(TIMER4_COMPA_vect)
-{
-  OSAL_IRQ_PROLOGUE();
-  gpt_lld_serve_interrupt(&GPTD4);
-  OSAL_IRQ_EPILOGUE();
-}
-#endif
-
-#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__)
-OSAL_IRQ_HANDLER(TIMER5_COMPA_vect)
-{
-  OSAL_IRQ_PROLOGUE();
-  gpt_lld_serve_interrupt(&GPTD5);
-  OSAL_IRQ_EPILOGUE();
-}
-#endif
-
-/*===========================================================================*/
-/* Driver exported functions.                                                */
-/*===========================================================================*/
-
-/**
- * @brief   Low level GPT driver initialization.
- *
- * @notapi
- */
-void gpt_lld_init(void)
-{
-#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__)
-  gptObjectInit(&GPTD1);
-#endif
-#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__)
-  gptObjectInit(&GPTD2);
-#endif
-#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__)
-  gptObjectInit(&GPTD3);
-#endif
-#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__)
-  gptObjectInit(&GPTD4);
-#endif
-#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__)
-  gptObjectInit(&GPTD5);
-#endif
-}
-
-/**
- * @brief   Configures and activates the GPT peripheral.
- *
- * @param[in] gptp      pointer to the @p GPTDriver object
- *
- * @notapi
- */
-void gpt_lld_start(GPTDriver *gptp)
-{
-  uint8_t psc;
-
-  if (gptp->state == GPT_STOP) {
-    /* Clock activation.*/
-  }
-
-  /* Configuration.*/
-
-#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__)
-  if (gptp == &GPTD2) {
-    psc = prescaler(gptp->config->frequency, ratio_extended, PRESCALER_SIZE_EXTENDED);
-    gptp->clock_source = clock_source_extended[psc] & 0x07;
-    TCCR2A  = (1 << WGM21) | (0 << WGM20);
-    TCCR2B  = (0 << WGM22);
-    OCR2A = F_CPU / ratio_extended[psc] /gptp->config->frequency - 1;
-    return;
-  }
-#endif
-
-  uint8_t i = getTimerIndex(gptp);
-  psc = prescaler(gptp->config->frequency, ratio_base, PRESCALER_SIZE_BASE);
-  gptp->clock_source = clock_source_base[psc] & 0x07;
-  *regs_table[i].tccra = (0 << WGM11)  |
-                         (0 << WGM10)  |
-                         (0 << COM1A1) |
-                         (0 << COM1A0) |
-                         (0 << COM1B1) |
-                         (0 << COM1B0);
-  *regs_table[i].tccrb = (1 << WGM12);
-  *regs_table[i].ocr1 = 0;
-  *regs_table[i].ocr2 = F_CPU / ratio_base[psc] / gptp->config->frequency - 1;
-}
-
-/**
- * @brief   Deactivates the GPT peripheral.
- *
- * @param[in] gptp      pointer to the @p GPTDriver object
- *
- * @notapi
- */
-void gpt_lld_stop(GPTDriver *gptp)
-{
-  /* nothing to be done */
-  if (gptp->state == GPT_READY) {
-    /* Clock de-activation.*/
-  }
-  gpt_lld_stop_timer(gptp);
-}
-
-/**
- * @brief   Starts the timer in continuous mode.
- *
- * @param[in] gptp      pointer to the @p GPTDriver object
- * @param[in] period    period in ticks
- *
- * @notapi
- */
-void gpt_lld_start_timer(GPTDriver *gptp, gptcnt_t period)
-{
-  gptp->callback = gptp->config->callback;
-  gptp->period = period;
-  gptp->counter = 0;
-
-  uint8_t i = getTimerIndex(gptp);
-  *regs_table[i].tcnt1 = 0;
-  *regs_table[i].tcnt2 = 0;
-  *regs_table[i].tifr  = (1 << OCF1A);
-  *regs_table[i].timsk = (1 << OCIE1A);
-  *regs_table[i].tccrb |= (gptp->clock_source << CS10);
-}
-
-/**
- * @brief   Stops the timer.
- *
- * @param[in] gptp      pointer to the @p GPTDriver object
- *
- * @notapi
- */
-void gpt_lld_stop_timer(GPTDriver *gptp)
-{
-  uint8_t i = getTimerIndex(gptp);
-  *regs_table[i].tccrb &= ~((7 << CS10) | (1 << OCIE1A));
-  *regs_table[i].tifr = (1 << OCF1A);
-}
-
-/**
- * @brief   Starts the timer in one shot mode and waits for completion.
- * @details This function specifically polls the timer waiting for completion
- *          in order to not have extra delays caused by interrupt servicing,
- *          this function is only recommended for short delays.
- *
- * @param[in] gptp      pointer to the @p GPTDriver object
- * @param[in] interval  time interval in ticks
- *
- * @notapi
- */
-void gpt_lld_polled_delay(GPTDriver *gptp, gptcnt_t interval)
-{
-  gptp->callback = gpt_lld_dummy_callback;
-  gpt_lld_start_timer(gptp, interval);
-  //FIX
-  while (gptp->state != GPT_READY) {}
-}
-
-#endif /* HAL_USE_GPT */
-
-/** @} */
+/*

+    ChibiOS/HAL - Copyright (C) 2006-2014 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 driver is based on the work done by Matteo Serva available at

+   http://github.com/matteoserva/ChibiOS-AVR

+*/

+

+/**

+ * @file    AVR/gpt_lld.c

+ * @brief   AVR GPT driver subsystem low level driver.

+ *

+ * @addtogroup GPT

+ * @{

+ */

+

+#include "hal.h"

+

+#if HAL_USE_GPT || defined(__DOXYGEN__)

+

+/*===========================================================================*/

+/* Driver local definitions.                                                 */

+/*===========================================================================*/

+

+#define PRESCALER_SIZE_BASE       5

+#define PRESCALER_SIZE_EXTENDED   7

+

+// FIXME: could use better names here!

+typedef struct {

+  volatile uint8_t *tccra;

+  volatile uint8_t *tccrb;

+  volatile uint8_t *ocr1;

+  volatile uint8_t *ocr2;

+  volatile uint8_t *tcnt1;

+  volatile uint8_t *tcnt2;

+  volatile uint8_t *tifr;

+  volatile uint8_t *timsk;

+} timer_registers_t;

+

+const timer_registers_t regs_table[] = {

+#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__)

+  { &TCCR1A, &TCCR1B, &OCR1AH, &OCR1AL, &TCNT1H, &TCNT1L, &TIFR1, &TIMSK1 },

+#endif

+#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__)

+  { &TCCR2A, &TCCR2B, &OCR2A, &OCR2A, &TCNT2, &TCNT2, &TIFR2, &TIMSK2 },

+#endif

+#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__)

+  { &TCCR3A, &TCCR3B, &OCR3AH, &OCR3AL, &TCNT3H, &TCNT3L, &TIFR3, &TIMSK3 },

+#endif

+#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__)

+  { &TCCR4A, &TCCR4B, &OCR4AH, &OCR4AL, &TCNT4H, &TCNT4L, &TIFR4, &TIMSK4 },

+#endif

+#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__)

+  { &TCCR5A, &TCCR5B, &OCR5AH, &OCR5AL, &TCNT5H, &TCNT5L, &TIFR5, &TIMSK5 },

+#endif

+};

+

+/*===========================================================================*/

+/* Driver exported variables.                                                */

+/*===========================================================================*/

+

+#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__)

+GPTDriver GPTD1;

+#endif

+#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__)

+GPTDriver GPTD2;

+#endif

+#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__)

+GPTDriver GPTD3;

+#endif

+#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__)

+GPTDriver GPTD4;

+#endif

+#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__)

+GPTDriver GPTD5;

+#endif

+

+/*===========================================================================*/

+/* Driver local variables.                                                   */

+/*===========================================================================*/

+

+static uint16_t ratio_base[] = { 1024, 256, 64, 8, 1 };

+static uint8_t  clock_source_base[]= { 5, 4, 3, 2, 1 };

+static uint16_t ratio_extended[] = { 1024, 256, 128, 64, 32, 8, 1 };

+static uint8_t  clock_source_extended[] = { 7, 6, 5, 4, 3, 2, 1 };

+

+/*===========================================================================*/

+/* Driver local functions.                                                   */

+/*===========================================================================*/

+

+static uint8_t prescaler(uint16_t freq, uint16_t *ratio, uint8_t n)

+{

+  uint8_t i;

+  for (i = 0; i < n; ++i) {

+    uint32_t result = F_CPU / ratio[i] / freq;

+    if (result > 256UL)

+       return i - 1;

+    if ((result * ratio[i] * freq) == F_CPU)

+      return i;

+  }

+}

+

+static void gpt_lld_serve_interrupt(GPTDriver *gptp)

+{

+  gptp->counter++;

+  if (gptp->counter == gptp->period) {

+    gptp->counter = 0;

+    if (gptp->state == GPT_ONESHOT) {

+      gptp->state = GPT_READY;             /* Back in GPT_READY state.     */

+      gpt_lld_stop_timer(gptp);            /* Timer automatically stopped. */

+    }

+    gptp->callback(gptp);

+  }

+}

+

+static void gpt_lld_dummy_callback(GPTDriver *gptp)

+{

+}

+

+static uint8_t getTimerIndex(GPTDriver *gptp)

+{

+  uint8_t index = 0;

+#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__)

+  if (gptp == &GPTD1) return index;

+  else index++;

+#endif

+#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__)

+  if (gptp == &GPTD2) return index;

+  else index++;

+#endif

+#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__)

+  if (gptp == &GPTD3) return index;

+  else index++;

+#endif

+#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__)

+  if (gptp == &GPTD4) return index;

+  else index++;

+#endif

+#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__)

+  if (gptp == &GPTD5) return index;

+  else index++;

+#endif

+}

+

+/*===========================================================================*/

+/* Driver interrupt handlers.                                                */

+/*===========================================================================*/

+

+#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__)

+OSAL_IRQ_HANDLER(TIMER1_COMPA_vect)

+{

+  OSAL_IRQ_PROLOGUE();

+  gpt_lld_serve_interrupt(&GPTD1);

+  OSAL_IRQ_EPILOGUE();

+}

+#endif

+

+#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__)

+OSAL_IRQ_HANDLER(TIMER2_COMPA_vect)

+{

+  OSAL_IRQ_PROLOGUE();

+  gpt_lld_serve_interrupt(&GPTD2);

+  OSAL_IRQ_EPILOGUE();

+}

+#endif

+

+#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__)

+OSAL_IRQ_HANDLER(TIMER3_COMPA_vect)

+{

+  OSAL_IRQ_PROLOGUE();

+  gpt_lld_serve_interrupt(&GPTD3);

+  OSAL_IRQ_EPILOGUE();

+}

+#endif

+

+#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__)

+OSAL_IRQ_HANDLER(TIMER4_COMPA_vect)

+{

+  OSAL_IRQ_PROLOGUE();

+  gpt_lld_serve_interrupt(&GPTD4);

+  OSAL_IRQ_EPILOGUE();

+}

+#endif

+

+#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__)

+OSAL_IRQ_HANDLER(TIMER5_COMPA_vect)

+{

+  OSAL_IRQ_PROLOGUE();

+  gpt_lld_serve_interrupt(&GPTD5);

+  OSAL_IRQ_EPILOGUE();

+}

+#endif

+

+/*===========================================================================*/

+/* Driver exported functions.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   Low level GPT driver initialization.

+ *

+ * @notapi

+ */

+void gpt_lld_init(void)

+{

+#if AVR_GPT_USE_TIM1 || defined(__DOXYGEN__)

+  gptObjectInit(&GPTD1);

+#endif

+#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__)

+  gptObjectInit(&GPTD2);

+#endif

+#if AVR_GPT_USE_TIM3 || defined(__DOXYGEN__)

+  gptObjectInit(&GPTD3);

+#endif

+#if AVR_GPT_USE_TIM4 || defined(__DOXYGEN__)

+  gptObjectInit(&GPTD4);

+#endif

+#if AVR_GPT_USE_TIM5 || defined(__DOXYGEN__)

+  gptObjectInit(&GPTD5);

+#endif

+}

+

+/**

+ * @brief   Configures and activates the GPT peripheral.

+ *

+ * @param[in] gptp      pointer to the @p GPTDriver object

+ *

+ * @notapi

+ */

+void gpt_lld_start(GPTDriver *gptp)

+{

+  uint8_t psc;

+

+  if (gptp->state == GPT_STOP) {

+    /* Clock activation.*/

+  }

+

+  /* Configuration.*/

+

+#if AVR_GPT_USE_TIM2 || defined(__DOXYGEN__)

+  if (gptp == &GPTD2) {

+    psc = prescaler(gptp->config->frequency, ratio_extended, PRESCALER_SIZE_EXTENDED);

+    gptp->clock_source = clock_source_extended[psc] & 0x07;

+    TCCR2A  = (1 << WGM21) | (0 << WGM20);

+    TCCR2B  = (0 << WGM22);

+    OCR2A = F_CPU / ratio_extended[psc] /gptp->config->frequency - 1;

+    return;

+  }

+#endif

+

+  uint8_t i = getTimerIndex(gptp);

+  psc = prescaler(gptp->config->frequency, ratio_base, PRESCALER_SIZE_BASE);

+  gptp->clock_source = clock_source_base[psc] & 0x07;

+  *regs_table[i].tccra = (0 << WGM11)  |

+                         (0 << WGM10)  |

+                         (0 << COM1A1) |

+                         (0 << COM1A0) |

+                         (0 << COM1B1) |

+                         (0 << COM1B0);

+  *regs_table[i].tccrb = (1 << WGM12);

+  *regs_table[i].ocr1 = 0;

+  *regs_table[i].ocr2 = F_CPU / ratio_base[psc] / gptp->config->frequency - 1;

+}

+

+/**

+ * @brief   Deactivates the GPT peripheral.

+ *

+ * @param[in] gptp      pointer to the @p GPTDriver object

+ *

+ * @notapi

+ */

+void gpt_lld_stop(GPTDriver *gptp)

+{

+  /* nothing to be done */

+  if (gptp->state == GPT_READY) {

+    /* Clock de-activation.*/

+  }

+  gpt_lld_stop_timer(gptp);

+}

+

+/**

+ * @brief   Starts the timer in continuous mode.

+ *

+ * @param[in] gptp      pointer to the @p GPTDriver object

+ * @param[in] period    period in ticks

+ *

+ * @notapi

+ */

+void gpt_lld_start_timer(GPTDriver *gptp, gptcnt_t period)

+{

+  gptp->callback = gptp->config->callback;

+  gptp->period = period;

+  gptp->counter = 0;

+

+  uint8_t i = getTimerIndex(gptp);

+  *regs_table[i].tcnt1 = 0;

+  *regs_table[i].tcnt2 = 0;

+  *regs_table[i].tifr  = (1 << OCF1A);

+  *regs_table[i].timsk = (1 << OCIE1A);

+  *regs_table[i].tccrb |= (gptp->clock_source << CS10);

+}

+

+/**

+ * @brief   Stops the timer.

+ *

+ * @param[in] gptp      pointer to the @p GPTDriver object

+ *

+ * @notapi

+ */

+void gpt_lld_stop_timer(GPTDriver *gptp)

+{

+  uint8_t i = getTimerIndex(gptp);

+  *regs_table[i].tccrb &= ~((7 << CS10) | (1 << OCIE1A));

+  *regs_table[i].tifr = (1 << OCF1A);

+}

+

+/**

+ * @brief   Starts the timer in one shot mode and waits for completion.

+ * @details This function specifically polls the timer waiting for completion

+ *          in order to not have extra delays caused by interrupt servicing,

+ *          this function is only recommended for short delays.

+ *

+ * @param[in] gptp      pointer to the @p GPTDriver object

+ * @param[in] interval  time interval in ticks

+ *

+ * @notapi

+ */

+void gpt_lld_polled_delay(GPTDriver *gptp, gptcnt_t interval)

+{

+  gptp->callback = gpt_lld_dummy_callback;

+  gpt_lld_start_timer(gptp, interval);

+  //FIX

+  while (gptp->state != GPT_READY) {}

+}

+

+#endif /* HAL_USE_GPT */

+

+/** @} */

diff --git a/os/hal/ports/AVR/gpt_lld.h b/os/hal/ports/AVR/gpt_lld.h
index ecc2a167f..456e3ca29 100644
--- a/os/hal/ports/AVR/gpt_lld.h
+++ b/os/hal/ports/AVR/gpt_lld.h
@@ -1,5 +1,5 @@
 /*

-    ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio

+    ChibiOS/HAL - Copyright (C) 2006-2014 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.

diff --git a/os/hal/ports/AVR/hal_lld.c b/os/hal/ports/AVR/hal_lld.c
index 5ff05a67c..894d5dcc5 100644
--- a/os/hal/ports/AVR/hal_lld.c
+++ b/os/hal/ports/AVR/hal_lld.c
@@ -1,5 +1,5 @@
 /*

-    ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio

+    ChibiOS/HAL - Copyright (C) 2006-2014 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.

diff --git a/os/hal/ports/AVR/hal_lld.h b/os/hal/ports/AVR/hal_lld.h
index 810e1614b..c72063ac0 100644
--- a/os/hal/ports/AVR/hal_lld.h
+++ b/os/hal/ports/AVR/hal_lld.h
@@ -1,5 +1,5 @@
 /*

-    ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio

+    ChibiOS/HAL - Copyright (C) 2006-2014 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.

diff --git a/os/hal/ports/AVR/i2c_lld.c b/os/hal/ports/AVR/i2c_lld.c
index fb528a313..b82531686 100644
--- a/os/hal/ports/AVR/i2c_lld.c
+++ b/os/hal/ports/AVR/i2c_lld.c
@@ -1,5 +1,5 @@
 /*

-    ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio

+    ChibiOS/HAL - Copyright (C) 2006-2014 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.

diff --git a/os/hal/ports/AVR/i2c_lld.h b/os/hal/ports/AVR/i2c_lld.h
index 6b38bc48e..6b2539d6d 100644
--- a/os/hal/ports/AVR/i2c_lld.h
+++ b/os/hal/ports/AVR/i2c_lld.h
@@ -1,5 +1,5 @@
 /*

-    ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio

+    ChibiOS/HAL - Copyright (C) 2006-2014 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.

diff --git a/os/hal/ports/AVR/icu_lld.c b/os/hal/ports/AVR/icu_lld.c
index bfdc6f1cf..85e3fe88b 100644
--- a/os/hal/ports/AVR/icu_lld.c
+++ b/os/hal/ports/AVR/icu_lld.c
@@ -1,5 +1,5 @@
 /*

-    ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio

+    ChibiOS/HAL - Copyright (C) 2006-2014 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.

diff --git a/os/hal/ports/AVR/icu_lld.h b/os/hal/ports/AVR/icu_lld.h
index 5daf66f0c..5dbd2f8fd 100644
--- a/os/hal/ports/AVR/icu_lld.h
+++ b/os/hal/ports/AVR/icu_lld.h
@@ -1,5 +1,5 @@
 /*

-    ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio

+    ChibiOS/HAL - Copyright (C) 2006-2014 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.

diff --git a/os/hal/ports/AVR/pal_lld.c b/os/hal/ports/AVR/pal_lld.c
index 175a1b7b8..c9635be00 100644
--- a/os/hal/ports/AVR/pal_lld.c
+++ b/os/hal/ports/AVR/pal_lld.c
@@ -1,5 +1,5 @@
 /*

-    ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio

+    ChibiOS/HAL - Copyright (C) 2006-2014 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.

diff --git a/os/hal/ports/AVR/pal_lld.h b/os/hal/ports/AVR/pal_lld.h
index ff6705f4a..cdd7e71ea 100644
--- a/os/hal/ports/AVR/pal_lld.h
+++ b/os/hal/ports/AVR/pal_lld.h
@@ -1,5 +1,5 @@
 /*

-    ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio

+    ChibiOS/HAL - Copyright (C) 2006-2014 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.

diff --git a/os/hal/ports/AVR/pwm_lld.c b/os/hal/ports/AVR/pwm_lld.c
index 450d57b78..7a5dc014e 100644
--- a/os/hal/ports/AVR/pwm_lld.c
+++ b/os/hal/ports/AVR/pwm_lld.c
@@ -1,495 +1,495 @@
-/*
-    ChibiOS/RT - Copyright (C) 2006-2014 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 driver is based on the work done by Matteo Serva available at
-   http://github.com/matteoserva/ChibiOS-AVR
-*/
-
-/**
- * @file    AVR/pwm_lld.c
- * @brief   AVR PWM driver subsystem low level driver.
- *
- * @addtogroup PWM
- * @{
- */
-
-#include "hal.h"
-
-#if HAL_USE_PWM || defined(__DOXYGEN__)
-
-/*===========================================================================*/
-/* Driver local definitions.                                                 */
-/*===========================================================================*/
-
-typedef struct {
-  volatile uint8_t *tccra;
-  volatile uint8_t *tccrb;
-  volatile uint8_t *ocrah;
-  volatile uint8_t *ocral;
-  volatile uint8_t *ocrbh;
-  volatile uint8_t *ocrbl;
-  volatile uint8_t *ocrch;
-  volatile uint8_t *ocrcl;
-  volatile uint8_t *tifr;
-  volatile uint8_t *timsk;
-} timer_registers_t;
-
-static timer_registers_t regs_table[]=
-{
-#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__)
-#if defined(OCR1C)
-  {&TCCR1A, &TCCR1B, &OCR1AH, &OCR1AL, &OCR1BH, &OCR1BL, &OCR1CH, &OCR1CL, &TIFR1, &TIMSK1},
-#else
-  {&TCCR1A, &TCCR1B, &OCR1AH, &OCR1AL, &OCR1BH, &OCR1BL, NULL, NULL, &TIFR1, &TIMSK1},
-#endif
-#endif
-#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__)
-  {&TCCR2A, &TCCR2B, &OCR2A, &OCR2A, &OCR2B, &OCR2B, NULL, NULL, &TIFR2, &TIMSK2},
-#endif
-#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__)
-  {&TCCR3A, &TCCR3B, &OCR3AH, &OCR3AL, &OCR3BH, &OCR3BL, &OCR3CH, &OCR3CL, &TIFR3, &TIMSK3},
-#endif
-#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__)
-  {&TCCR4A, &TCCR4B, &OCR4AH, &OCR4AL, &OCR4CH, &OCR4CL, &OCR4CH, &OCR4CL, &TIFR4, &TIMSK4},
-#endif
-#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__)
-  {&TCCR5A, &TCCR5B, &OCR5AH, &OCR5AL, &OCR5BH, &OCR5BL, &OCR5CH, &OCR5CL, &TIFR5, &TIMSK5},
-#endif
-};
-
-/*===========================================================================*/
-/* Driver exported variables.                                                */
-/*===========================================================================*/
-
-/** @brief PWM driver identifiers.*/
-#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__)
-PWMDriver PWMD1;
-#endif
-#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__)
-PWMDriver PWMD2;
-#endif
-#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__)
-PWMDriver PWMD3;
-#endif
-#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__)
-PWMDriver PWMD4;
-#endif
-#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__)
-PWMDriver PWMD5;
-#endif
-
-/*===========================================================================*/
-/* Driver local variables.                                                   */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local functions.                                                   */
-/*===========================================================================*/
-
-static void config_channel(volatile uint8_t *tccra,
-                           uint8_t com1,
-                           uint8_t com0,
-                           pwmmode_t mode)
-{
-  *tccra &= ~((1 << com1) | (1 << com0));
-  if (mode == PWM_OUTPUT_ACTIVE_HIGH)
-    *tccra |= ((1 << com1) | (0 << com0)); /* non inverting mode */
-  else if (mode == PWM_OUTPUT_ACTIVE_LOW)
-    *tccra |= (1 << com1) | (1 << com0);   /* inverting mode */
-}
-
-static uint8_t timer_index(PWMDriver *pwmp)
-{
-  uint8_t index = 0;
-
-#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__)
-  if (pwmp == &PWMD1) return index;
-  else index++;
-#endif
-#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__)
-  if (pwmp == &PWMD2) return index;
-  else index++;
-#endif
-#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__)
-  if (pwmp == &PWMD3) return index;
-  else index++;
-#endif
-#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__)
-  if (pwmp == &PWMD4) return index;
-  else index++;
-#endif
-#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__)
-  if (pwmp == &PWMD5) return index;
-  else index++;
-#endif
-
-  /* This is an error! */
-  return index;
-}
-
-/*===========================================================================*/
-/* Driver interrupt handlers.                                                */
-/*===========================================================================*/
-
-/*
- * interrupt for compare1&2 and clock overflow. pwmd1 & pwmd2
- */
-#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__)
-OSAL_IRQ_HANDLER(TIMER1_OVF_vect)
-{
-  OSAL_IRQ_PROLOGUE();
-  PWMD1.config->callback(&PWMD1);
-  OSAL_IRQ_EPILOGUE();
-}
-
-OSAL_IRQ_HANDLER(TIMER1_COMPA_vect)
-{
-  OSAL_IRQ_PROLOGUE();
-  PWMD1.config->channels[0].callback(&PWMD1);
-  OSAL_IRQ_EPILOGUE();
-}
-
-OSAL_IRQ_HANDLER(TIMER1_COMPB_vect)
-{
-  OSAL_IRQ_PROLOGUE();
-  PWMD1.config->channels[1].callback(&PWMD1);
-  OSAL_IRQ_EPILOGUE();
-}
-#if PWM_CHANNELS > 2
-OSAL_IRQ_HANDLER(TIMER1_COMPC_vect)
-{
-  OSAL_IRQ_PROLOGUE();
-  PWMD1.config->channels[2].callback(&PWMD1);
-  OSAL_IRQ_EPILOGUE();
-}
-#endif
-#endif
-
-#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__)
-OSAL_IRQ_HANDLER(TIMER2_OVF_vect)
-{
-  OSAL_IRQ_PROLOGUE();
-  PWMD2.config->callback(&PWMD2);
-  OSAL_IRQ_EPILOGUE();
-}
-
-OSAL_IRQ_HANDLER(TIMER2_COMPA_vect)
-{
-  OSAL_IRQ_PROLOGUE();
-  PWMD2.config->channels[0].callback(&PWMD2);
-  OSAL_IRQ_EPILOGUE();
-}
-
-OSAL_IRQ_HANDLER(TIMER2_COMPB_vect)
-{
-  OSAL_IRQ_PROLOGUE();
-  PWMD2.config->channels[1].callback(&PWMD2);
-  OSAL_IRQ_EPILOGUE();
-}
-#endif
-
-#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__)
-OSAL_IRQ_HANDLER(TIMER3_OVF_vect)
-{
-  OSAL_IRQ_PROLOGUE();
-  PWMD3.config->callback(&PWMD3);
-  OSAL_IRQ_EPILOGUE();
-}
-
-OSAL_IRQ_HANDLER(TIMER3_COMPA_vect)
-{
-  OSAL_IRQ_PROLOGUE();
-  PWMD3.config->channels[0].callback(&PWMD3);
-  OSAL_IRQ_EPILOGUE();
-}
-
-OSAL_IRQ_HANDLER(TIMER3_COMPB_vect)
-{
-  OSAL_IRQ_PROLOGUE();
-  PWMD3.config->channels[1].callback(&PWMD3);
-  OSAL_IRQ_EPILOGUE();
-}
-
-OSAL_IRQ_HANDLER(TIMER3_COMPC_vect)
-{
-  OSAL_IRQ_PROLOGUE();
-  PWMD3.config->channels[2].callback(&PWMD3);
-  OSAL_IRQ_EPILOGUE();
-}
-#endif
-
-#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__)
-OSAL_IRQ_HANDLER(TIMER4_OVF_vect)
-{
-  OSAL_IRQ_PROLOGUE();
-  PWMD4.config->callback(&PWMD4);
-  OSAL_IRQ_EPILOGUE();
-}
-
-OSAL_IRQ_HANDLER(TIMER4_COMPA_vect)
-{
-  OSAL_IRQ_PROLOGUE();
-  PWMD4.config->channels[0].callback(&PWMD4);
-  OSAL_IRQ_EPILOGUE();
-}
-
-OSAL_IRQ_HANDLER(TIMER4_COMPB_vect)
-{
-  OSAL_IRQ_PROLOGUE();
-  PWMD4.config->channels[1].callback(&PWMD4);
-  OSAL_IRQ_EPILOGUE();
-}
-
-OSAL_IRQ_HANDLER(TIMER4_COMPC_vect)
-{
-  OSAL_IRQ_PROLOGUE();
-  PWMD4.config->channels[2].callback(&PWMD4);
-  OSAL_IRQ_EPILOGUE();
-}
-#endif
-
-#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__)
-OSAL_IRQ_HANDLER(TIMER5_OVF_vect)
-{
-  OSAL_IRQ_PROLOGUE();
-  PWMD5.config->callback(&PWMD5);
-  OSAL_IRQ_EPILOGUE();
-}
-
-OSAL_IRQ_HANDLER(TIMER5_COMPA_vect)
-{
-  OSAL_IRQ_PROLOGUE();
-  PWMD5.config->channels[0].callback(&PWMD5);
-  OSAL_IRQ_EPILOGUE();
-}
-
-OSAL_IRQ_HANDLER(TIMER5_COMPB_vect)
-{
-  OSAL_IRQ_PROLOGUE();
-  PWMD5.config->channels[1].callback(&PWMD5);
-  OSAL_IRQ_EPILOGUE();
-}
-
-OSAL_IRQ_HANDLER(TIMER5_COMPC_vect)
-{
-  OSAL_IRQ_PROLOGUE();
-  PWMD5.config->channels[2].callback(&PWMD5);
-  OSAL_IRQ_EPILOGUE();
-}
-#endif
-
-/*===========================================================================*/
-/* Driver exported functions.                                                */
-/*===========================================================================*/
-
-/**
- * @brief   Low level PWM driver initialization.
- *
- * @notapi
- */
-void pwm_lld_init(void)
-{
-#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__)
-  pwmObjectInit(&PWMD1);
-  TCCR1A = (1 << WGM11) | (1 << WGM10);
-  TCCR1B = (0 << WGM13) | (1 << WGM12);
-#endif
-
-#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__)
-  pwmObjectInit(&PWMD2);
-  TCCR2A = (1 << WGM21) | (1 << WGM20);
-  TCCR2B = (0 << WGM22);
-#endif
-
-#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__)
-  pwmObjectInit(&PWMD3);
-  TCCR3A = (1 << WGM31) | (1 << WGM30);
-  TCCR3B = (0 << WGM33) | (1 << WGM32);
-#endif
-
-#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__)
-  pwmObjectInit(&PWMD4);
-  TCCR4A = (1 << WGM41) | (1 << WGM40);
-  TCCR4B = (0 << WGM43) | (1 << WGM42);
-#endif
-
-#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__)
-  pwmObjectInit(&PWMD5);
-  TCCR5A = (1 << WGM51) | (1 << WGM50);
-  TCCR5B = (0 << WGM53) | (1 << WGM52);
-#endif
-}
-
-/**
- * @brief   Configures and activates the PWM peripheral.
- *
- * @param[in] pwmp      pointer to the @p PWMDriver object
- *
- * @notapi
- */
-void pwm_lld_start(PWMDriver *pwmp)
-{
-  if (pwmp->state == PWM_STOP) {
-
-#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__)
-    if (pwmp == &PWMD2) {
-      TCCR2B &= ~((1 << CS22) | (1 << CS21));
-      TCCR2B |= (1 << CS20);
-      if (pwmp->config->callback != NULL)
-        TIMSK2 |= (1 << TOIE2);
-      return;
-    }
-#endif
-
-    /* TODO: support other prescaler options */
-
-    uint8_t i = timer_index(pwmp);
-    *regs_table[i].tccrb &= ~(1 << CS11);
-    *regs_table[i].tccrb |= (1 << CS12) | (1 << CS10);
-    *regs_table[i].timsk = (1 << TOIE1);
-  }
-}
-
-/**
- * @brief   Deactivates the PWM peripheral.
- *
- * @param[in] pwmp      pointer to the @p PWMDriver object
- *
- * @notapi
- */
-void pwm_lld_stop(PWMDriver *pwmp)
-{
-  uint8_t i = timer_index(pwmp);
-  *regs_table[i].tccrb &= ~((1 << CS12) | (1 << CS11) | (1 << CS10));
-  *regs_table[i].timsk = 0;
-}
-
-/**
- * @brief   Changes the period the PWM peripheral.
- * @details This function changes the period of a PWM unit that has already
- *          been activated using @p pwmStart().
- * @pre     The PWM unit must have been activated using @p pwmStart().
- * @post    The PWM unit period is changed to the new value.
- * @note    The function has effect at the next cycle start.
- * @note    If a period is specified that is shorter than the pulse width
- *          programmed in one of the channels then the behavior is not
- *          guaranteed.
- *
- * @param[in] pwmp      pointer to a @p PWMDriver object
- * @param[in] period    new cycle time in ticks
- *
- * @notapi
- */
-void pwm_lld_change_period(PWMDriver *pwmp, pwmcnt_t period)
-{
-}
-
-/**
- * @brief   Enables a PWM channel.
- * @pre     The PWM unit must have been activated using @p pwmStart().
- * @post    The channel is active using the specified configuration.
- * @note    Depending on the hardware implementation this function has
- *          effect starting on the next cycle (recommended implementation)
- *          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] width     PWM pulse width as clock pulses number
- *
- * @notapi
- */
-void pwm_lld_enable_channel(PWMDriver *pwmp,
-                            pwmchannel_t channel,
-                            pwmcnt_t width)
-{
-  uint16_t val = width;
-  if (val > MAX_PWM_VALUE)
-    val = MAX_PWM_VALUE;
-
-#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__)
-  if (pwmp == &PWMD2) {
-    config_channel(&TCCR2A,
-                   7 - 2*channel,
-                   6 - 2*channel,
-                   pwmp->config->channels[channel].mode);
-    TIMSK2 |= (1 << (channel + 1));
-    /* Timer 2 is 8 bit */
-    if (val > 0xFF)
-      val = 0xFF;
-    if (pwmp->config->channels[channel].callback) {
-      switch (channel) {
-      case 0: OCR2A = val; break;
-      case 1: OCR2B = val; break;
-      }
-    }
-    return;
-  }
-#endif
-
-  uint8_t i = timer_index(pwmp);
-  config_channel(regs_table[i].tccra,
-                 7 - 2*channel,
-                 6 - 2*channel,
-                 pwmp->config->channels[channel].mode);
-  volatile uint8_t *ocrh, *ocrl;
-  switch (channel) {
-  case 1:
-    ocrh = regs_table[i].ocrbh;
-    ocrl = regs_table[i].ocrbl;
-    break;
-  case 2:
-    ocrh = regs_table[i].ocrch;
-    ocrl = regs_table[i].ocrcl;
-    break;
-  default:
-    ocrh = regs_table[i].ocrah;
-    ocrl = regs_table[i].ocral;
-  }
-  *ocrh = val >> 8;
-  *ocrl = val & 0xFF;
-  *regs_table[i].tifr |= (1 << (channel + 1));
-  if (pwmp->config->channels[channel].callback)
-    *regs_table[i].timsk |= (1 << (channel + 1));
-}
-
-/**
- * @brief   Disables a PWM channel.
- * @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    Depending on the hardware implementation this function has
- *          effect starting on the next cycle (recommended implementation)
- *          or immediately (fallback implementation).
- *
- * @param[in] pwmp      pointer to a @p PWMDriver object
- * @param[in] channel   PWM channel identifier (0...PWM_CHANNELS-1)
- *
- * @notapi
- */
-void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel)
-{
-  uint8_t i = timer_index(pwmp);
-  config_channel(regs_table[i].tccra,
-                 7 - 2*channel,
-                 6 - 2*channel,
-                 PWM_OUTPUT_DISABLED);
-  *regs_table[i].timsk &= ~(1 << (channel + 1));
-}
-
-#endif /* HAL_USE_PWM */
-
-/** @} */
+/*

+    ChibiOS/HAL - Copyright (C) 2006-2014 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 driver is based on the work done by Matteo Serva available at

+   http://github.com/matteoserva/ChibiOS-AVR

+*/

+

+/**

+ * @file    AVR/pwm_lld.c

+ * @brief   AVR PWM driver subsystem low level driver.

+ *

+ * @addtogroup PWM

+ * @{

+ */

+

+#include "hal.h"

+

+#if HAL_USE_PWM || defined(__DOXYGEN__)

+

+/*===========================================================================*/

+/* Driver local definitions.                                                 */

+/*===========================================================================*/

+

+typedef struct {

+  volatile uint8_t *tccra;

+  volatile uint8_t *tccrb;

+  volatile uint8_t *ocrah;

+  volatile uint8_t *ocral;

+  volatile uint8_t *ocrbh;

+  volatile uint8_t *ocrbl;

+  volatile uint8_t *ocrch;

+  volatile uint8_t *ocrcl;

+  volatile uint8_t *tifr;

+  volatile uint8_t *timsk;

+} timer_registers_t;

+

+static timer_registers_t regs_table[]=

+{

+#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__)

+#if defined(OCR1C)

+  {&TCCR1A, &TCCR1B, &OCR1AH, &OCR1AL, &OCR1BH, &OCR1BL, &OCR1CH, &OCR1CL, &TIFR1, &TIMSK1},

+#else

+  {&TCCR1A, &TCCR1B, &OCR1AH, &OCR1AL, &OCR1BH, &OCR1BL, NULL, NULL, &TIFR1, &TIMSK1},

+#endif

+#endif

+#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__)

+  {&TCCR2A, &TCCR2B, &OCR2A, &OCR2A, &OCR2B, &OCR2B, NULL, NULL, &TIFR2, &TIMSK2},

+#endif

+#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__)

+  {&TCCR3A, &TCCR3B, &OCR3AH, &OCR3AL, &OCR3BH, &OCR3BL, &OCR3CH, &OCR3CL, &TIFR3, &TIMSK3},

+#endif

+#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__)

+  {&TCCR4A, &TCCR4B, &OCR4AH, &OCR4AL, &OCR4CH, &OCR4CL, &OCR4CH, &OCR4CL, &TIFR4, &TIMSK4},

+#endif

+#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__)

+  {&TCCR5A, &TCCR5B, &OCR5AH, &OCR5AL, &OCR5BH, &OCR5BL, &OCR5CH, &OCR5CL, &TIFR5, &TIMSK5},

+#endif

+};

+

+/*===========================================================================*/

+/* Driver exported variables.                                                */

+/*===========================================================================*/

+

+/** @brief PWM driver identifiers.*/

+#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__)

+PWMDriver PWMD1;

+#endif

+#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__)

+PWMDriver PWMD2;

+#endif

+#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__)

+PWMDriver PWMD3;

+#endif

+#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__)

+PWMDriver PWMD4;

+#endif

+#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__)

+PWMDriver PWMD5;

+#endif

+

+/*===========================================================================*/

+/* Driver local variables.                                                   */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver local functions.                                                   */

+/*===========================================================================*/

+

+static void config_channel(volatile uint8_t *tccra,

+                           uint8_t com1,

+                           uint8_t com0,

+                           pwmmode_t mode)

+{

+  *tccra &= ~((1 << com1) | (1 << com0));

+  if (mode == PWM_OUTPUT_ACTIVE_HIGH)

+    *tccra |= ((1 << com1) | (0 << com0)); /* non inverting mode */

+  else if (mode == PWM_OUTPUT_ACTIVE_LOW)

+    *tccra |= (1 << com1) | (1 << com0);   /* inverting mode */

+}

+

+static uint8_t timer_index(PWMDriver *pwmp)

+{

+  uint8_t index = 0;

+

+#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__)

+  if (pwmp == &PWMD1) return index;

+  else index++;

+#endif

+#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__)

+  if (pwmp == &PWMD2) return index;

+  else index++;

+#endif

+#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__)

+  if (pwmp == &PWMD3) return index;

+  else index++;

+#endif

+#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__)

+  if (pwmp == &PWMD4) return index;

+  else index++;

+#endif

+#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__)

+  if (pwmp == &PWMD5) return index;

+  else index++;

+#endif

+

+  /* This is an error! */

+  return index;

+}

+

+/*===========================================================================*/

+/* Driver interrupt handlers.                                                */

+/*===========================================================================*/

+

+/*

+ * interrupt for compare1&2 and clock overflow. pwmd1 & pwmd2

+ */

+#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__)

+OSAL_IRQ_HANDLER(TIMER1_OVF_vect)

+{

+  OSAL_IRQ_PROLOGUE();

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

+  OSAL_IRQ_EPILOGUE();

+}

+

+OSAL_IRQ_HANDLER(TIMER1_COMPA_vect)

+{

+  OSAL_IRQ_PROLOGUE();

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

+  OSAL_IRQ_EPILOGUE();

+}

+

+OSAL_IRQ_HANDLER(TIMER1_COMPB_vect)

+{

+  OSAL_IRQ_PROLOGUE();

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

+  OSAL_IRQ_EPILOGUE();

+}

+#if PWM_CHANNELS > 2

+OSAL_IRQ_HANDLER(TIMER1_COMPC_vect)

+{

+  OSAL_IRQ_PROLOGUE();

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

+  OSAL_IRQ_EPILOGUE();

+}

+#endif

+#endif

+

+#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__)

+OSAL_IRQ_HANDLER(TIMER2_OVF_vect)

+{

+  OSAL_IRQ_PROLOGUE();

+  PWMD2.config->callback(&PWMD2);

+  OSAL_IRQ_EPILOGUE();

+}

+

+OSAL_IRQ_HANDLER(TIMER2_COMPA_vect)

+{

+  OSAL_IRQ_PROLOGUE();

+  PWMD2.config->channels[0].callback(&PWMD2);

+  OSAL_IRQ_EPILOGUE();

+}

+

+OSAL_IRQ_HANDLER(TIMER2_COMPB_vect)

+{

+  OSAL_IRQ_PROLOGUE();

+  PWMD2.config->channels[1].callback(&PWMD2);

+  OSAL_IRQ_EPILOGUE();

+}

+#endif

+

+#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__)

+OSAL_IRQ_HANDLER(TIMER3_OVF_vect)

+{

+  OSAL_IRQ_PROLOGUE();

+  PWMD3.config->callback(&PWMD3);

+  OSAL_IRQ_EPILOGUE();

+}

+

+OSAL_IRQ_HANDLER(TIMER3_COMPA_vect)

+{

+  OSAL_IRQ_PROLOGUE();

+  PWMD3.config->channels[0].callback(&PWMD3);

+  OSAL_IRQ_EPILOGUE();

+}

+

+OSAL_IRQ_HANDLER(TIMER3_COMPB_vect)

+{

+  OSAL_IRQ_PROLOGUE();

+  PWMD3.config->channels[1].callback(&PWMD3);

+  OSAL_IRQ_EPILOGUE();

+}

+

+OSAL_IRQ_HANDLER(TIMER3_COMPC_vect)

+{

+  OSAL_IRQ_PROLOGUE();

+  PWMD3.config->channels[2].callback(&PWMD3);

+  OSAL_IRQ_EPILOGUE();

+}

+#endif

+

+#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__)

+OSAL_IRQ_HANDLER(TIMER4_OVF_vect)

+{

+  OSAL_IRQ_PROLOGUE();

+  PWMD4.config->callback(&PWMD4);

+  OSAL_IRQ_EPILOGUE();

+}

+

+OSAL_IRQ_HANDLER(TIMER4_COMPA_vect)

+{

+  OSAL_IRQ_PROLOGUE();

+  PWMD4.config->channels[0].callback(&PWMD4);

+  OSAL_IRQ_EPILOGUE();

+}

+

+OSAL_IRQ_HANDLER(TIMER4_COMPB_vect)

+{

+  OSAL_IRQ_PROLOGUE();

+  PWMD4.config->channels[1].callback(&PWMD4);

+  OSAL_IRQ_EPILOGUE();

+}

+

+OSAL_IRQ_HANDLER(TIMER4_COMPC_vect)

+{

+  OSAL_IRQ_PROLOGUE();

+  PWMD4.config->channels[2].callback(&PWMD4);

+  OSAL_IRQ_EPILOGUE();

+}

+#endif

+

+#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__)

+OSAL_IRQ_HANDLER(TIMER5_OVF_vect)

+{

+  OSAL_IRQ_PROLOGUE();

+  PWMD5.config->callback(&PWMD5);

+  OSAL_IRQ_EPILOGUE();

+}

+

+OSAL_IRQ_HANDLER(TIMER5_COMPA_vect)

+{

+  OSAL_IRQ_PROLOGUE();

+  PWMD5.config->channels[0].callback(&PWMD5);

+  OSAL_IRQ_EPILOGUE();

+}

+

+OSAL_IRQ_HANDLER(TIMER5_COMPB_vect)

+{

+  OSAL_IRQ_PROLOGUE();

+  PWMD5.config->channels[1].callback(&PWMD5);

+  OSAL_IRQ_EPILOGUE();

+}

+

+OSAL_IRQ_HANDLER(TIMER5_COMPC_vect)

+{

+  OSAL_IRQ_PROLOGUE();

+  PWMD5.config->channels[2].callback(&PWMD5);

+  OSAL_IRQ_EPILOGUE();

+}

+#endif

+

+/*===========================================================================*/

+/* Driver exported functions.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   Low level PWM driver initialization.

+ *

+ * @notapi

+ */

+void pwm_lld_init(void)

+{

+#if AVR_PWM_USE_TIM1 || defined(__DOXYGEN__)

+  pwmObjectInit(&PWMD1);

+  TCCR1A = (1 << WGM11) | (1 << WGM10);

+  TCCR1B = (0 << WGM13) | (1 << WGM12);

+#endif

+

+#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__)

+  pwmObjectInit(&PWMD2);

+  TCCR2A = (1 << WGM21) | (1 << WGM20);

+  TCCR2B = (0 << WGM22);

+#endif

+

+#if AVR_PWM_USE_TIM3 || defined(__DOXYGEN__)

+  pwmObjectInit(&PWMD3);

+  TCCR3A = (1 << WGM31) | (1 << WGM30);

+  TCCR3B = (0 << WGM33) | (1 << WGM32);

+#endif

+

+#if AVR_PWM_USE_TIM4 || defined(__DOXYGEN__)

+  pwmObjectInit(&PWMD4);

+  TCCR4A = (1 << WGM41) | (1 << WGM40);

+  TCCR4B = (0 << WGM43) | (1 << WGM42);

+#endif

+

+#if AVR_PWM_USE_TIM5 || defined(__DOXYGEN__)

+  pwmObjectInit(&PWMD5);

+  TCCR5A = (1 << WGM51) | (1 << WGM50);

+  TCCR5B = (0 << WGM53) | (1 << WGM52);

+#endif

+}

+

+/**

+ * @brief   Configures and activates the PWM peripheral.

+ *

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

+ *

+ * @notapi

+ */

+void pwm_lld_start(PWMDriver *pwmp)

+{

+  if (pwmp->state == PWM_STOP) {

+

+#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__)

+    if (pwmp == &PWMD2) {

+      TCCR2B &= ~((1 << CS22) | (1 << CS21));

+      TCCR2B |= (1 << CS20);

+      if (pwmp->config->callback != NULL)

+        TIMSK2 |= (1 << TOIE2);

+      return;

+    }

+#endif

+

+    /* TODO: support other prescaler options */

+

+    uint8_t i = timer_index(pwmp);

+    *regs_table[i].tccrb &= ~(1 << CS11);

+    *regs_table[i].tccrb |= (1 << CS12) | (1 << CS10);

+    *regs_table[i].timsk = (1 << TOIE1);

+  }

+}

+

+/**

+ * @brief   Deactivates the PWM peripheral.

+ *

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

+ *

+ * @notapi

+ */

+void pwm_lld_stop(PWMDriver *pwmp)

+{

+  uint8_t i = timer_index(pwmp);

+  *regs_table[i].tccrb &= ~((1 << CS12) | (1 << CS11) | (1 << CS10));

+  *regs_table[i].timsk = 0;

+}

+

+/**

+ * @brief   Changes the period the PWM peripheral.

+ * @details This function changes the period of a PWM unit that has already

+ *          been activated using @p pwmStart().

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

+ * @post    The PWM unit period is changed to the new value.

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

+ * @note    If a period is specified that is shorter than the pulse width

+ *          programmed in one of the channels then the behavior is not

+ *          guaranteed.

+ *

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

+ * @param[in] period    new cycle time in ticks

+ *

+ * @notapi

+ */

+void pwm_lld_change_period(PWMDriver *pwmp, pwmcnt_t period)

+{

+}

+

+/**

+ * @brief   Enables a PWM channel.

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

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

+ * @note    Depending on the hardware implementation this function has

+ *          effect starting on the next cycle (recommended implementation)

+ *          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] width     PWM pulse width as clock pulses number

+ *

+ * @notapi

+ */

+void pwm_lld_enable_channel(PWMDriver *pwmp,

+                            pwmchannel_t channel,

+                            pwmcnt_t width)

+{

+  uint16_t val = width;

+  if (val > MAX_PWM_VALUE)

+    val = MAX_PWM_VALUE;

+

+#if AVR_PWM_USE_TIM2 || defined(__DOXYGEN__)

+  if (pwmp == &PWMD2) {

+    config_channel(&TCCR2A,

+                   7 - 2*channel,

+                   6 - 2*channel,

+                   pwmp->config->channels[channel].mode);

+    TIMSK2 |= (1 << (channel + 1));

+    /* Timer 2 is 8 bit */

+    if (val > 0xFF)

+      val = 0xFF;

+    if (pwmp->config->channels[channel].callback) {

+      switch (channel) {

+      case 0: OCR2A = val; break;

+      case 1: OCR2B = val; break;

+      }

+    }

+    return;

+  }

+#endif

+

+  uint8_t i = timer_index(pwmp);

+  config_channel(regs_table[i].tccra,

+                 7 - 2*channel,

+                 6 - 2*channel,

+                 pwmp->config->channels[channel].mode);

+  volatile uint8_t *ocrh, *ocrl;

+  switch (channel) {

+  case 1:

+    ocrh = regs_table[i].ocrbh;

+    ocrl = regs_table[i].ocrbl;

+    break;

+  case 2:

+    ocrh = regs_table[i].ocrch;

+    ocrl = regs_table[i].ocrcl;

+    break;

+  default:

+    ocrh = regs_table[i].ocrah;

+    ocrl = regs_table[i].ocral;

+  }

+  *ocrh = val >> 8;

+  *ocrl = val & 0xFF;

+  *regs_table[i].tifr |= (1 << (channel + 1));

+  if (pwmp->config->channels[channel].callback)

+    *regs_table[i].timsk |= (1 << (channel + 1));

+}

+

+/**

+ * @brief   Disables a PWM channel.

+ * @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    Depending on the hardware implementation this function has

+ *          effect starting on the next cycle (recommended implementation)

+ *          or immediately (fallback implementation).

+ *

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

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

+ *

+ * @notapi

+ */

+void pwm_lld_disable_channel(PWMDriver *pwmp, pwmchannel_t channel)

+{

+  uint8_t i = timer_index(pwmp);

+  config_channel(regs_table[i].tccra,

+                 7 - 2*channel,

+                 6 - 2*channel,

+                 PWM_OUTPUT_DISABLED);

+  *regs_table[i].timsk &= ~(1 << (channel + 1));

+}

+

+#endif /* HAL_USE_PWM */

+

+/** @} */

diff --git a/os/hal/ports/AVR/pwm_lld.h b/os/hal/ports/AVR/pwm_lld.h
index 3be2008b5..eb72f05da 100644
--- a/os/hal/ports/AVR/pwm_lld.h
+++ b/os/hal/ports/AVR/pwm_lld.h
@@ -1,5 +1,5 @@
 /*

-    ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio

+    ChibiOS/HAL - Copyright (C) 2006-2014 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.

diff --git a/os/hal/ports/AVR/serial_lld.c b/os/hal/ports/AVR/serial_lld.c
index 953870952..9674878c0 100644
--- a/os/hal/ports/AVR/serial_lld.c
+++ b/os/hal/ports/AVR/serial_lld.c
@@ -1,5 +1,5 @@
 /*

-    ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio

+    ChibiOS/HAL - Copyright (C) 2006-2014 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.

diff --git a/os/hal/ports/AVR/serial_lld.h b/os/hal/ports/AVR/serial_lld.h
index d98210b4d..47df88a5f 100644
--- a/os/hal/ports/AVR/serial_lld.h
+++ b/os/hal/ports/AVR/serial_lld.h
@@ -1,5 +1,5 @@
 /*

-    ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio

+    ChibiOS/HAL - Copyright (C) 2006-2014 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.

diff --git a/os/hal/ports/AVR/spi_lld.c b/os/hal/ports/AVR/spi_lld.c
index e87687563..3621b2136 100644
--- a/os/hal/ports/AVR/spi_lld.c
+++ b/os/hal/ports/AVR/spi_lld.c
@@ -1,5 +1,5 @@
 /*

-    ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio

+    ChibiOS/HAL - Copyright (C) 2006-2014 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.

diff --git a/os/hal/ports/AVR/spi_lld.h b/os/hal/ports/AVR/spi_lld.h
index 3cc3e1adc..e0defe45e 100644
--- a/os/hal/ports/AVR/spi_lld.h
+++ b/os/hal/ports/AVR/spi_lld.h
@@ -1,5 +1,5 @@
 /*

-    ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio

+    ChibiOS/HAL - Copyright (C) 2006-2014 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.

diff --git a/os/hal/ports/AVR/st_lld.c b/os/hal/ports/AVR/st_lld.c
index ebbe0eec2..463ff8b8a 100644
--- a/os/hal/ports/AVR/st_lld.c
+++ b/os/hal/ports/AVR/st_lld.c
@@ -1,5 +1,5 @@
 /*

-    ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio

+    ChibiOS/HAL - Copyright (C) 2006-2014 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.

diff --git a/os/hal/ports/AVR/st_lld.h b/os/hal/ports/AVR/st_lld.h
index beefb9165..024135c8f 100644
--- a/os/hal/ports/AVR/st_lld.h
+++ b/os/hal/ports/AVR/st_lld.h
@@ -1,5 +1,5 @@
 /*

-    ChibiOS/RT - Copyright (C) 2006-2014 Giovanni Di Sirio

+    ChibiOS/HAL - Copyright (C) 2006-2014 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.