1 files changed, 14 insertions, 8 deletions
diff --git a/testhal/STM32/PWM-ICU/main.c b/testhal/STM32/PWM-ICU/main.c
index 3f7b6423e..1fd56c33a 100644
--- a/testhal/STM32/PWM-ICU/main.c
+++ b/testhal/STM32/PWM-ICU/main.c
@@ -89,7 +89,7 @@ int main(void) {
   palSetPad(IOPORT3, GPIOC_LED);
 
   /*
-   * Initializes the PWM driver 1.
+   * Initializes the PWM driver 1 and ICU driver 4.
    */
   pwmStart(&PWMD1, &pwmcfg);
   palSetPadMode(IOPORT1, 8, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
@@ -98,26 +98,32 @@ int main(void) {
   chThdSleepMilliseconds(2000);
 
   /*
-   * Starts the channel 0 using 25% duty cycle.
+   * Starts the PWM channel 0 using 75% duty cycle.
    */
-  pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 2500));
+  pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 7500));
   chThdSleepMilliseconds(5000);
 
   /*
-   * Changes the channel 0 to 75% duty cycle.
+   * Changes the PWM channel 0 to 50% duty cycle.
    */
-  pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 7500));
+  pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 5000));
+  chThdSleepMilliseconds(5000);
+
+  /*
+   * Changes the PWM channel 0 to 25% duty cycle.
+   */
+  pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 2500));
   chThdSleepMilliseconds(5000);
 
   /*
-   * Changes PWM period to half second and duty cycle to 50%.
+   * Changes PWM period to half second the duty cycle becomes 50%
+   * implicitly.
    */
   pwmChangePeriod(&PWMD1, 5000);
-  pwmEnableChannel(&PWMD1, 0, PWM_PERCENTAGE_TO_WIDTH(&PWMD1, 5000));
   chThdSleepMilliseconds(5000);
 
   /*
-   * Disables channel 0.
+   * Disables channel 0 and stops the drivers.
    */
   pwmDisableChannel(&PWMD1, 0);
   pwmStop(&PWMD1);