Organized Tiva LLD folder.

5 files changed, 1921 insertions, 0 deletions

diff --git a/os/hal/ports/TIVA/LLD/GPTM/hal_gpt_lld.c b/os/hal/ports/TIVA/LLD/GPTM/hal_gpt_lld.c
new file mode 100644
index 0000000..870ba12
--- /dev/null
+++ b/os/hal/ports/TIVA/LLD/GPTM/hal_gpt_lld.c
@@ -0,0 +1,756 @@
+/*
+    Copyright (C) 2014..2016 Marco Veeneman
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    TIVA/gpt_lld.c
+ * @brief   TM4C123x/TM4C129x GPT subsystem low level driver source.
+ *
+ * @addtogroup GPT
+ * @{
+ */
+
+#include "hal.h"
+
+#if HAL_USE_GPT || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions.                                                 */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   GPTD1 driver identifier.
+ */
+#if TIVA_GPT_USE_GPT0 || defined(__DOXYGEN__)
+GPTDriver GPTD1;
+#endif
+
+/**
+ * @brief   GPTD2 driver identifier.
+ */
+#if TIVA_GPT_USE_GPT1 || defined(__DOXYGEN__)
+GPTDriver GPTD2;
+#endif
+
+/**
+ * @brief   GPTD3 driver identifier.
+ */
+#if TIVA_GPT_USE_GPT2 || defined(__DOXYGEN__)
+GPTDriver GPTD3;
+#endif
+
+/**
+ * @brief   GPTD4 driver identifier.
+ */
+#if TIVA_GPT_USE_GPT3 || defined(__DOXYGEN__)
+GPTDriver GPTD4;
+#endif
+
+/**
+ * @brief   GPTD5 driver identifier.
+ */
+#if TIVA_GPT_USE_GPT4 || defined(__DOXYGEN__)
+GPTDriver GPTD5;
+#endif
+
+/**
+ * @brief   GPTD6 driver identifier.
+ */
+#if TIVA_GPT_USE_GPT5 || defined(__DOXYGEN__)
+GPTDriver GPTD6;
+#endif
+
+/**
+ * @brief   GPTD7 driver identifier.
+ */
+#if TIVA_GPT_USE_WGPT0 || defined(__DOXYGEN__)
+GPTDriver GPTD7;
+#endif
+
+/**
+ * @brief   GPTD8 driver identifier.
+ */
+#if TIVA_GPT_USE_WGPT1 || defined(__DOXYGEN__)
+GPTDriver GPTD8;
+#endif
+
+/**
+ * @brief   GPTD9 driver identifier.
+ */
+#if TIVA_GPT_USE_WGPT2 || defined(__DOXYGEN__)
+GPTDriver GPTD9;
+#endif
+
+/**
+ * @brief   GPTD10 driver identifier.
+ */
+#if TIVA_GPT_USE_WGPT3 || defined(__DOXYGEN__)
+GPTDriver GPTD10;
+#endif
+
+/**
+ * @brief   GPTD11 driver identifier.
+ */
+#if TIVA_GPT_USE_WGPT4 || defined(__DOXYGEN__)
+GPTDriver GPTD11;
+#endif
+
+/**
+ * @brief   GPTD12 driver identifier.
+ */
+#if TIVA_GPT_USE_WGPT5 || defined(__DOXYGEN__)
+GPTDriver GPTD12;
+#endif
+
+/*===========================================================================*/
+/* Driver local variables and types.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+/**
+ * @brief   Shared IRQ handler.
+ *
+ * @param[in] gptp      pointer to @p GPTDriver object
+ */
+static void gpt_lld_serve_interrupt(GPTDriver *gptp)
+{
+  gptp->gpt->ICR = 0xffffffff;
+
+  if (gptp->state == GPT_ONESHOT) {
+    gptp->state = GPT_READY;
+    gpt_lld_stop_timer(gptp);
+  }
+
+  gptp->config->callback(gptp);
+}
+
+/*===========================================================================*/
+/* Driver interrupt handlers.                                                */
+/*===========================================================================*/
+
+#if TIVA_GPT_USE_GPT0
+#if !defined(TIVA_GPT0A_HANDLER)
+#error "TIVA_GPT0A_HANDLER not defined"
+#endif
+/**
+ * @brief   GPT0 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_GPT0A_HANDLER)
+{
+  OSAL_IRQ_PROLOGUE();
+
+  gpt_lld_serve_interrupt(&GPTD1);
+
+  OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#if TIVA_GPT_USE_GPT1
+#if !defined(TIVA_GPT1A_HANDLER)
+#error "TIVA_GPT1A_HANDLER not defined"
+#endif
+/**
+ * @brief   GPT1 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_GPT1A_HANDLER)
+{
+  OSAL_IRQ_PROLOGUE();
+
+  gpt_lld_serve_interrupt(&GPTD2);
+
+  OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#if TIVA_GPT_USE_GPT2
+#if !defined(TIVA_GPT2A_HANDLER)
+#error "TIVA_GPT2A_HANDLER not defined"
+#endif
+/**
+ * @brief   GPT2 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_GPT2A_HANDLER)
+{
+  OSAL_IRQ_PROLOGUE();
+
+  gpt_lld_serve_interrupt(&GPTD3);
+
+  OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#if TIVA_GPT_USE_GPT3
+#if !defined(TIVA_GPT3A_HANDLER)
+#error "TIVA_GPT3A_HANDLER not defined"
+#endif
+/**
+ * @brief   GPT3 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_GPT3A_HANDLER)
+{
+  OSAL_IRQ_PROLOGUE();
+
+  gpt_lld_serve_interrupt(&GPTD4);
+
+  OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#if TIVA_GPT_USE_GPT4
+#if !defined(TIVA_GPT4A_HANDLER)
+#error "TIVA_GPT4A_HANDLER not defined"
+#endif
+/**
+ * @brief   GPT4 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_GPT4A_HANDLER)
+{
+  OSAL_IRQ_PROLOGUE();
+
+  gpt_lld_serve_interrupt(&GPTD5);
+
+  OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#if TIVA_GPT_USE_GPT5
+#if !defined(TIVA_GPT5A_HANDLER)
+#error "TIVA_GPT5A_HANDLER not defined"
+#endif
+/**
+ * @brief   GPT5 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_GPT5A_HANDLER)
+{
+  OSAL_IRQ_PROLOGUE();
+
+  gpt_lld_serve_interrupt(&GPTD6);
+
+  OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#if TIVA_GPT_USE_WGPT0
+#if !defined(TIVA_WGPT0A_HANDLER)
+#error "TIVA_WGPT0A_HANDLER not defined"
+#endif
+/**
+ * @brief   WGPT0 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_WGPT0A_HANDLER)
+{
+  OSAL_IRQ_PROLOGUE();
+
+  gpt_lld_serve_interrupt(&GPTD7);
+
+  OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#if TIVA_GPT_USE_WGPT1
+#if !defined(TIVA_WGPT1A_HANDLER)
+#error "TIVA_WGPT1A_HANDLER not defined"
+#endif
+/**
+ * @brief   WGPT1 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_WGPT1A_HANDLER)
+{
+  OSAL_IRQ_PROLOGUE();
+
+  gpt_lld_serve_interrupt(&GPTD8);
+
+  OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#if TIVA_GPT_USE_WGPT2
+#if !defined(TIVA_WGPT2A_HANDLER)
+#error "TIVA_WGPT2A_HANDLER not defined"
+#endif
+/**
+ * @brief   WGPT2 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_WGPT2A_HANDLER)
+{
+  OSAL_IRQ_PROLOGUE();
+
+  gpt_lld_serve_interrupt(&GPTD9);
+
+  OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#if TIVA_GPT_USE_WGPT3
+#if !defined(TIVA_WGPT3A_HANDLER)
+#error "TIVA_WGPT3A_HANDLER not defined"
+#endif
+/**
+ * @brief   WGPT3 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_WGPT3A_HANDLER)
+{
+  OSAL_IRQ_PROLOGUE();
+
+  gpt_lld_serve_interrupt(&GPTD10);
+
+  OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#if TIVA_GPT_USE_WGPT4
+#if !defined(TIVA_WGPT4A_HANDLER)
+#error "TIVA_WGPT4A_HANDLER not defined"
+#endif
+/**
+ * @brief   WGPT4 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_WGPT4A_HANDLER)
+{
+  OSAL_IRQ_PROLOGUE();
+
+  gpt_lld_serve_interrupt(&GPTD11);
+
+  OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#if TIVA_GPT_USE_WGPT5
+#if !defined(TIVA_WGPT5A_HANDLER)
+#error "TIVA_WGPT5A_HANDLER not defined"
+#endif
+/**
+ * @brief   WGPT5 interrupt handler.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(TIVA_WGPT5A_HANDLER)
+{
+  OSAL_IRQ_PROLOGUE();
+
+  gpt_lld_serve_interrupt(&GPTD12);
+
+  OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   Low level GPT driver initialization.
+ *
+ * @notapi
+ */
+void gpt_lld_init(void)
+{
+  /* Driver initialization.*/
+#if TIVA_GPT_USE_GPT0
+  GPTD1.gpt = GPT0;
+  gptObjectInit(&GPTD1);
+#endif
+
+#if TIVA_GPT_USE_GPT1
+  GPTD2.gpt = GPT1;
+  gptObjectInit(&GPTD2);
+#endif
+
+#if TIVA_GPT_USE_GPT2
+  GPTD3.gpt = GPT2;
+  gptObjectInit(&GPTD3);
+#endif
+
+#if TIVA_GPT_USE_GPT3
+  GPTD4.gpt = GPT3;
+  gptObjectInit(&GPTD4);
+#endif
+
+#if TIVA_GPT_USE_GPT4
+  GPTD5.gpt = GPT4;
+  gptObjectInit(&GPTD5);
+#endif
+
+#if TIVA_GPT_USE_GPT5
+  GPTD6.gpt = GPT5;
+  gptObjectInit(&GPTD6);
+#endif
+
+#if TIVA_GPT_USE_WGPT0
+  GPTD7.gpt = WGPT0;
+  gptObjectInit(&GPTD7);
+#endif
+
+#if TIVA_GPT_USE_WGPT1
+  GPTD8.gpt = WGPT1;
+  gptObjectInit(&GPTD8);
+#endif
+
+#if TIVA_GPT_USE_WGPT2
+  GPTD9.gpt = WGPT2;
+  gptObjectInit(&GPTD9);
+#endif
+
+#if TIVA_GPT_USE_WGPT3
+  GPTD10.gpt = WGPT3;
+  gptObjectInit(&GPTD10);
+#endif
+
+#if TIVA_GPT_USE_WGPT4
+  GPTD11.gpt = WGPT4;
+  gptObjectInit(&GPTD11);
+#endif
+
+#if TIVA_GPT_USE_WGPT5
+  GPTD12.gpt = WGPT5;
+  gptObjectInit(&GPTD12);
+#endif
+}
+
+/**
+ * @brief   Configures and activates the GPT peripheral.
+ *
+ * @param[in] gptp      pointer to the @p GPTDriver object
+ *
+ * @notapi
+ */
+void gpt_lld_start(GPTDriver *gptp)
+{
+  if (gptp->state == GPT_STOP) {
+    /* Clock activation.*/
+#if TIVA_GPT_USE_GPT0
+    if (&GPTD1 == gptp) {
+      SYSCTL->RCGCTIMER |= (1 << 0);
+
+      while (!(SYSCTL->PRTIMER & (1 << 0)))
+        ;
+
+      nvicEnableVector(TIVA_GPT0A_NUMBER, TIVA_GPT_GPT0A_IRQ_PRIORITY);
+    }
+#endif
+
+#if TIVA_GPT_USE_GPT1
+    if (&GPTD2 == gptp) {
+      SYSCTL->RCGCTIMER |= (1 << 1);
+
+      while (!(SYSCTL->PRTIMER & (1 << 1)))
+        ;
+
+      nvicEnableVector(TIVA_GPT1A_NUMBER, TIVA_GPT_GPT1A_IRQ_PRIORITY);
+    }
+#endif
+
+#if TIVA_GPT_USE_GPT2
+    if (&GPTD3 == gptp) {
+      SYSCTL->RCGCTIMER |= (1 << 2);
+
+      while (!(SYSCTL->PRTIMER & (1 << 2)))
+        ;
+
+      nvicEnableVector(TIVA_GPT2A_NUMBER, TIVA_GPT_GPT2A_IRQ_PRIORITY);
+    }
+#endif
+
+#if TIVA_GPT_USE_GPT3
+    if (&GPTD4 == gptp) {
+      SYSCTL->RCGCTIMER |= (1 << 3);
+
+      while (!(SYSCTL->PRTIMER & (1 << 3)))
+        ;
+
+      nvicEnableVector(TIVA_GPT3A_NUMBER, TIVA_GPT_GPT3A_IRQ_PRIORITY);
+    }
+#endif
+
+#if TIVA_GPT_USE_GPT4
+    if (&GPTD5 == gptp) {
+      SYSCTL->RCGCTIMER |= (1 << 4);
+
+      while (!(SYSCTL->PRTIMER & (1 << 4)))
+        ;
+
+      nvicEnableVector(TIVA_GPT4A_NUMBER, TIVA_GPT_GPT4A_IRQ_PRIORITY);
+    }
+#endif
+
+#if TIVA_GPT_USE_GPT5
+    if (&GPTD6 == gptp) {
+      SYSCTL->RCGCTIMER |= (1 << 5);
+
+      while (!(SYSCTL->PRTIMER & (1 << 5)))
+        ;
+
+      nvicEnableVector(TIVA_GPT5A_NUMBER, TIVA_GPT_GPT5A_IRQ_PRIORITY);
+    }
+#endif
+
+#if TIVA_GPT_USE_WGPT0
+    if (&GPTD7 == gptp) {
+      SYSCTL->RCGCWTIMER |= (1 << 0);
+
+      while (!(SYSCTL->PRWTIMER & (1 << 0)))
+        ;
+
+      nvicEnableVector(TIVA_WGPT0A_NUMBER, TIVA_GPT_WGPT0A_IRQ_PRIORITY);
+    }
+#endif
+
+#if TIVA_GPT_USE_WGPT1
+    if (&GPTD8 == gptp) {
+      SYSCTL->RCGCWTIMER |= (1 << 1);
+
+      while (!(SYSCTL->PRWTIMER & (1 << 1)))
+        ;
+
+      nvicEnableVector(TIVA_WGPT1A_NUMBER, TIVA_GPT_WGPT1A_IRQ_PRIORITY);
+    }
+#endif
+
+#if TIVA_GPT_USE_WGPT2
+    if (&GPTD9 == gptp) {
+      SYSCTL->RCGCWTIMER |= (1 << 2);
+
+      while (!(SYSCTL->PRWTIMER & (1 << 2)))
+        ;
+
+      nvicEnableVector(TIVA_WGPT2A_NUMBER, TIVA_GPT_WGPT2A_IRQ_PRIORITY);
+    }
+#endif
+
+#if TIVA_GPT_USE_WGPT3
+    if (&GPTD10 == gptp) {
+      SYSCTL->RCGCWTIMER |= (1 << 3);
+
+      while (!(SYSCTL->PRWTIMER & (1 << 3)))
+        ;
+
+      nvicEnableVector(TIVA_WGPT3A_NUMBER, TIVA_GPT_WGPT3A_IRQ_PRIORITY);
+    }
+#endif
+
+#if TIVA_GPT_USE_WGPT4
+    if (&GPTD11 == gptp) {
+      SYSCTL->RCGCWTIMER |= (1 << 4);
+
+      while (!(SYSCTL->PRWTIMER & (1 << 4)))
+        ;
+
+      nvicEnableVector(TIVA_WGPT4A_NUMBER, TIVA_GPT_WGPT4A_IRQ_PRIORITY);
+    }
+#endif
+
+#if TIVA_GPT_USE_WGPT5
+    if (&GPTD12 == gptp) {
+      SYSCTL->RCGCWTIMER |= (1 << 5);
+
+      while (!(SYSCTL->PRWTIMER & (1 << 5)))
+        ;
+
+      nvicEnableVector(TIVA_WGPT5A_NUMBER, TIVA_GPT_WGPT5A_IRQ_PRIORITY);
+    }
+#endif
+  }
+
+  /* Timer configuration.*/
+  gptp->gpt->CTL = 0;
+  gptp->gpt->CFG = GPTM_CFG_CFG_SPLIT;
+  gptp->gpt->TAPR = ((TIVA_SYSCLK / 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)
+{
+  if (gptp->state == GPT_READY) {
+    gptp->gpt->IMR = 0;
+    gptp->gpt->TAILR = 0;
+    gptp->gpt->CTL = 0;
+
+#if TIVA_GPT_USE_GPT0
+    if (&GPTD1 == gptp) {
+      nvicDisableVector(TIVA_GPT0A_NUMBER);
+      SYSCTL->RCGCTIMER &= ~(1 << 0);
+    }
+#endif
+
+#if TIVA_GPT_USE_GPT1
+    if (&GPTD2 == gptp) {
+      nvicDisableVector(TIVA_GPT1A_NUMBER);
+      SYSCTL->RCGCTIMER &= ~(1 << 1);
+    }
+#endif
+
+#if TIVA_GPT_USE_GPT2
+    if (&GPTD3 == gptp) {
+      nvicDisableVector(TIVA_GPT2A_NUMBER);
+      SYSCTL->RCGCTIMER &= ~(1 << 2);
+    }
+#endif
+
+#if TIVA_GPT_USE_GPT3
+    if (&GPTD4 == gptp) {
+      nvicDisableVector(TIVA_GPT3A_NUMBER);
+      SYSCTL->RCGCTIMER &= ~(1 << 3);
+    }
+#endif
+
+#if TIVA_GPT_USE_GPT4
+    if (&GPTD5 == gptp) {
+      nvicDisableVector(TIVA_GPT4A_NUMBER);
+      SYSCTL->RCGCTIMER &= ~(1 << 4);
+    }
+#endif
+
+#if TIVA_GPT_USE_GPT5
+    if (&GPTD6 == gptp) {
+      nvicDisableVector(TIVA_GPT5A_NUMBER);
+      SYSCTL->RCGCTIMER &= ~(1 << 5);
+    }
+#endif
+
+#if TIVA_GPT_USE_WGPT0
+    if (&GPTD7 == gptp) {
+      nvicDisableVector(TIVA_WGPT0A_NUMBER);
+      SYSCTL->RCGCWTIMER &= ~(1 << 0);
+    }
+#endif
+
+#if TIVA_GPT_USE_WGPT1
+    if (&GPTD8 == gptp) {
+      nvicDisableVector(TIVA_WGPT1A_NUMBER);
+      SYSCTL->RCGCWTIMER &= ~(1 << 1);
+    }
+#endif
+
+#if TIVA_GPT_USE_WGPT2
+    if (&GPTD9 == gptp) {
+      nvicDisableVector(TIVA_WGPT2A_NUMBER);
+      SYSCTL->RCGCWTIMER &= ~(1 << 2);
+    }
+#endif
+
+#if TIVA_GPT_USE_WGPT3
+    if (&GPTD10 == gptp) {
+      nvicDisableVector(TIVA_WGPT3A_NUMBER);
+      SYSCTL->RCGCWTIMER &= ~(1 << 3);
+    }
+#endif
+
+#if TIVA_GPT_USE_WGPT4
+    if (&GPTD11 == gptp) {
+      nvicDisableVector(TIVA_WGPT4A_NUMBER);
+      SYSCTL->RCGCWTIMER &= ~(1 << 4);
+    }
+#endif
+
+#if TIVA_GPT_USE_WGPT5
+    if (&GPTD12 == gptp) {
+      nvicDisableVector(TIVA_WGPT5A_NUMBER);
+      SYSCTL->RCGCWTIMER &= ~(1 << 5);
+    }
+#endif
+  }
+}
+
+/**
+ * @brief   Starts the timer in continuous mode.
+ *
+ * @param[in] gptp      pointer to the @p GPTDriver object
+ * @param[in] interval  period in ticks
+ *
+ * @notapi
+ */
+void gpt_lld_start_timer(GPTDriver *gptp, gptcnt_t interval)
+{
+  gptp->gpt->TAILR = interval - 1;
+  gptp->gpt->ICR = 0xfffffff;
+  gptp->gpt->IMR = GPTM_IMR_TATOIM;
+  gptp->gpt->TAMR = GPTM_TAMR_TAMR_PERIODIC | GPTM_TAMR_TAILD | GPTM_TAMR_TASNAPS;
+  gptp->gpt->CTL = GPTM_CTL_TAEN | GPTM_CTL_TASTALL;
+}
+
+/**
+ * @brief   Stops the timer.
+ *
+ * @param[in] gptp      pointer to the @p GPTDriver object
+ *
+ * @notapi
+ */
+void gpt_lld_stop_timer(GPTDriver *gptp)
+{
+  gptp->gpt->IMR = 0;
+  gptp->gpt->TAILR = 0;
+  gptp->gpt->CTL &= ~GPTM_CTL_TAEN;
+}
+
+/**
+ * @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->gpt->TAMR = GPTM_TAMR_TAMR_ONESHOT | GPTM_TAMR_TAILD | GPTM_TAMR_TASNAPS;
+  gptp->gpt->TAILR = interval - 1;
+  gptp->gpt->ICR = 0xffffffff;
+  gptp->gpt->CTL = GPTM_CTL_TAEN | GPTM_CTL_TASTALL;
+  while (!(gptp->gpt->RIS & GPTM_IMR_TATOIM))
+    ;
+  gptp->gpt->ICR = 0xffffffff;
+}
+
+#endif /* HAL_USE_GPT */
+
+/** @} */
diff --git a/os/hal/ports/TIVA/LLD/GPTM/hal_gpt_lld.h b/os/hal/ports/TIVA/LLD/GPTM/hal_gpt_lld.h
new file mode 100644
index 0000000..e518e58
--- /dev/null
+++ b/os/hal/ports/TIVA/LLD/GPTM/hal_gpt_lld.h
@@ -0,0 +1,501 @@
+/*
+    Copyright (C) 2014..2016 Marco Veeneman
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    TIVA/gpt_lld.h
+ * @brief   TM4C123x/TM4C129x GPT subsystem low level driver header.
+ *
+ * @addtogroup GPT
+ * @{
+ */
+
+#ifndef HAL_GPT_LLD_H
+#define HAL_GPT_LLD_H
+
+#if HAL_USE_GPT || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants.                                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @name    Configuration options
+ * @{
+ */
+
+/**
+ * @brief   GPTD1 driver enable switch.
+ * @details If set to @p TRUE the support for GPTD1 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(TIVA_GPT_USE_GPT0) || defined(__DOXYGEN__)
+#define TIVA_GPT_USE_GPT0                   FALSE
+#endif
+
+/**
+ * @brief   GPTD2 driver enable switch.
+ * @details If set to @p TRUE the support for GPTD2 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(TIVA_GPT_USE_GPT1) || defined(__DOXYGEN__)
+#define TIVA_GPT_USE_GPT1                   FALSE
+#endif
+
+/**
+ * @brief   GPTD3 driver enable switch.
+ * @details If set to @p TRUE the support for GPTD3 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(TIVA_GPT_USE_GPT2) || defined(__DOXYGEN__)
+#define TIVA_GPT_USE_GPT2                   FALSE
+#endif
+
+/**
+ * @brief   GPTD4 driver enable switch.
+ * @details If set to @p TRUE the support for GPTD4 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(TIVA_GPT_USE_GPT3) || defined(__DOXYGEN__)
+#define TIVA_GPT_USE_GPT3                   FALSE
+#endif
+
+/**
+ * @brief   GPTD5 driver enable switch.
+ * @details If set to @p TRUE the support for GPTD5 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(TIVA_GPT_USE_GPT4) || defined(__DOXYGEN__)
+#define TIVA_GPT_USE_GPT4                   FALSE
+#endif
+
+/**
+ * @brief   GPTD6 driver enable switch.
+ * @details If set to @p TRUE the support for GPTD6 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(TIVA_GPT_USE_GPT5) || defined(__DOXYGEN__)
+#define TIVA_GPT_USE_GPT5                   FALSE
+#endif
+
+/**
+ * @brief   GPTD7 driver enable switch.
+ * @details If set to @p TRUE the support for GPTD1 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(TIVA_GPT_USE_WGPT0) || defined(__DOXYGEN__)
+#define TIVA_GPT_USE_WGPT0                  FALSE
+#endif
+
+/**
+ * @brief   GPTD8 driver enable switch.
+ * @details If set to @p TRUE the support for GPTD2 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(TIVA_GPT_USE_WGPT1) || defined(__DOXYGEN__)
+#define TIVA_GPT_USE_WGPT1                  FALSE
+#endif
+
+/**
+ * @brief   GPTD9 driver enable switch.
+ * @details If set to @p TRUE the support for GPTD3 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(TIVA_GPT_USE_WGPT2) || defined(__DOXYGEN__)
+#define TIVA_GPT_USE_WGPT2                  FALSE
+#endif
+
+/**
+ * @brief   GPTD10 driver enable switch.
+ * @details If set to @p TRUE the support for GPTD4 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(TIVA_GPT_USE_WGPT3) || defined(__DOXYGEN__)
+#define TIVA_GPT_USE_WGPT3                  FALSE
+#endif
+
+/**
+ * @brief   GPTD11 driver enable switch.
+ * @details If set to @p TRUE the support for GPTD5 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(TIVA_GPT_USE_WGPT4) || defined(__DOXYGEN__)
+#define TIVA_GPT_USE_WGPT4                  FALSE
+#endif
+
+/**
+ * @brief   GPTD12 driver enable switch.
+ * @details If set to @p TRUE the support for GPTD6 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(TIVA_GPT_USE_WGPT5) || defined(__DOXYGEN__)
+#define TIVA_GPT_USE_WGPT5                  FALSE
+#endif
+
+/**
+ * @brief   GPTD1 interrupt priority level setting.
+ */
+#if !defined(TIVA_GPT_GPT0A_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define TIVA_GPT_GPT0A_IRQ_PRIORITY          7
+#endif
+
+/**
+ * @brief   GPTD2 interrupt priority level setting.
+ */
+#if !defined(TIVA_GPT_GPT1A_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define TIVA_GPT_GPT1A_IRQ_PRIORITY          7
+#endif
+
+/**
+ * @brief   GPTD3 interrupt priority level setting.
+ */
+#if !defined(TIVA_GPT_GPT2A_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define TIVA_GPT_GPT2A_IRQ_PRIORITY          7
+#endif
+
+/**
+ * @brief   GPTD4 interrupt priority level setting.
+ */
+#if !defined(TIVA_GPT_GPT3A_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define TIVA_GPT_GPT3A_IRQ_PRIORITY          7
+#endif
+
+/**
+ * @brief   GPTD5 interrupt priority level setting.
+ */
+#if !defined(TIVA_GPT_GPT4A_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define TIVA_GPT_GPT4A_IRQ_PRIORITY          7
+#endif
+
+/**
+ * @brief   GPTD6 interrupt priority level setting.
+ */
+#if !defined(TIVA_GPT_GPT5A_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define TIVA_GPT_GPT5A_IRQ_PRIORITY          7
+#endif
+
+/**
+ * @brief   GPTD7 interrupt priority level setting.
+ */
+#if !defined(TIVA_GPT_WGPT0A_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define TIVA_GPT_WGPT0A_IRQ_PRIORITY         7
+#endif
+
+/**
+ * @brief   GPTD8 interrupt priority level setting.
+ */
+#if !defined(TIVA_GPT_WGPT1A_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define TIVA_GPT_WGPT1A_IRQ_PRIORITY         7
+#endif
+
+/**
+ * @brief   GPTD9 interrupt priority level setting.
+ */
+#if !defined(TIVA_GPT_WGPT2A_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define TIVA_GPT_WGPT2A_IRQ_PRIORITY         7
+#endif
+
+/**
+ * @brief   GPTD10 interrupt priority level setting.
+ */
+#if !defined(TIVA_GPT_WGPT3A_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define TIVA_GPT_WGPT3A_IRQ_PRIORITY         7
+#endif
+
+/**
+ * @brief   GPTD11 interrupt priority level setting.
+ */
+#if !defined(TIVA_GPT_WGPT4A_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define TIVA_GPT_WGPT4A_IRQ_PRIORITY         7
+#endif
+
+/**
+ * @brief   GPTD12 interrupt priority level setting.
+ */
+#if !defined(TIVA_GPT_WGPT5A_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define TIVA_GPT_WGPT5A_IRQ_PRIORITY         7
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+#if TIVA_GPT_USE_GPT0 && !TIVA_HAS_GPT0
+#error "GPT0 not present in the selected device"
+#endif
+
+#if TIVA_GPT_USE_GPT1 && !TIVA_HAS_GPT1
+#error "GPT1 not present in the selected device"
+#endif
+
+#if TIVA_GPT_USE_GPT2 && !TIVA_HAS_GPT2
+#error "GPT2 not present in the selected device"
+#endif
+
+#if TIVA_GPT_USE_GPT3 && !TIVA_HAS_GPT3
+#error "GPT3 not present in the selected device"
+#endif
+
+#if TIVA_GPT_USE_GPT4 && !TIVA_HAS_GPT4
+#error "GPT4 not present in the selected device"
+#endif
+
+#if TIVA_GPT_USE_GPT5 && !TIVA_HAS_GPT5
+#error "GPT5 not present in the selected device"
+#endif
+
+#if TIVA_GPT_USE_WGPT0 && !TIVA_HAS_WGPT0
+#error "WGPT0 not present in the selected device"
+#endif
+
+#if TIVA_GPT_USE_WGPT1 && !TIVA_HAS_WGPT1
+#error "WGPT1 not present in the selected device"
+#endif
+
+#if TIVA_GPT_USE_WGPT2 && !TIVA_HAS_WGPT2
+#error "WGPT2 not present in the selected device"
+#endif
+
+#if TIVA_GPT_USE_WGPT3 && !TIVA_HAS_WGPT3
+#error "WGPT3 not present in the selected device"
+#endif
+
+#if TIVA_GPT_USE_WGPT4 && !TIVA_HAS_WGPT4
+#error "WGPT4 not present in the selected device"
+#endif
+
+#if TIVA_GPT_USE_WGPT5 && !TIVA_HAS_WGPT5
+#error "WGPT5 not present in the selected device"
+#endif
+
+#if !TIVA_GPT_USE_GPT0 && !TIVA_GPT_USE_GPT1 && !TIVA_GPT_USE_GPT2 &&        \
+    !TIVA_GPT_USE_GPT3 && !TIVA_GPT_USE_GPT4 && !TIVA_GPT_USE_GPT5 &&        \
+    !TIVA_GPT_USE_WGPT0 && !TIVA_GPT_USE_WGPT1 && !TIVA_GPT_USE_WGPT2 &&     \
+    !TIVA_GPT_USE_WGPT3 && !TIVA_GPT_USE_WGPT4 && !TIVA_GPT_USE_WGPT5
+#error "GPT driver activated but no (W)GPT peripheral assigned"
+#endif
+
+#if TIVA_GPT_USE_GPT0 &&                                                     \
+    !OSAL_IRQ_IS_VALID_PRIORITY(TIVA_GPT_GPT0A_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to GPT0"
+#endif
+
+#if TIVA_GPT_USE_GPT1 &&                                                     \
+    !OSAL_IRQ_IS_VALID_PRIORITY(TIVA_GPT_GPT1A_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to GPT1"
+#endif
+
+#if TIVA_GPT_USE_GPT2 &&                                                     \
+    !OSAL_IRQ_IS_VALID_PRIORITY(TIVA_GPT_GPT2A_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to GPT2"
+#endif
+
+#if TIVA_GPT_USE_GPT3 &&                                                     \
+    !OSAL_IRQ_IS_VALID_PRIORITY(TIVA_GPT_GPT3A_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to GPT3"
+#endif
+
+#if TIVA_GPT_USE_GPT4 &&                                                     \
+    !OSAL_IRQ_IS_VALID_PRIORITY(TIVA_GPT_GPT4A_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to GPT4"
+#endif
+
+#if TIVA_GPT_USE_GPT5 &&                                                     \
+    !OSAL_IRQ_IS_VALID_PRIORITY(TIVA_GPT_GPT5A_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to GPT5"
+#endif
+
+#if TIVA_GPT_USE_WGPT0 &&                                                    \
+    !OSAL_IRQ_IS_VALID_PRIORITY(TIVA_GPT_WGPT0A_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to WGPT0"
+#endif
+
+#if TIVA_GPT_USE_WGPT1 &&                                                    \
+    !OSAL_IRQ_IS_VALID_PRIORITY(TIVA_GPT_WGPT1A_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to WGPT1"
+#endif
+
+#if TIVA_GPT_USE_WGPT2 &&                                                    \
+    !OSAL_IRQ_IS_VALID_PRIORITY(TIVA_GPT_WGPT2A_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to WGPT2"
+#endif
+
+#if TIVA_GPT_USE_WGPT3 &&                                                    \
+    !OSAL_IRQ_IS_VALID_PRIORITY(TIVA_GPT_WGPT3A_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to WGPT3"
+#endif
+
+#if TIVA_GPT_USE_WGPT4 &&                                                    \
+    !OSAL_IRQ_IS_VALID_PRIORITY(TIVA_GPT_WGPT4A_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to WGPT4"
+#endif
+
+#if TIVA_GPT_USE_WGPT5 &&                                                    \
+    !OSAL_IRQ_IS_VALID_PRIORITY(TIVA_GPT_WGPT5A_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to WGPT5"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   GPT frequency type.
+ */
+typedef uint32_t gptfreq_t;
+
+/**
+ * @brief   GPT counter type.
+ */
+typedef uint16_t gptcnt_t;
+
+/**
+ * @brief   Driver configuration structure.
+ * @note    It could be empty on some architectures.
+ */
+typedef struct {
+  /**
+   * @brief   Timer clock in Hz.
+   * @note    The low level can use assertions in order to catch invalid
+   *          frequency specifications.
+   */
+  gptfreq_t                 frequency;
+  /**
+   * @brief   Timer callback pointer.
+   * @note    This callback is invoked on GPT counter events.
+   */
+  gptcallback_t             callback;
+  /* End of the mandatory fields.*/
+} GPTConfig;
+
+/**
+ * @brief   Structure representing a GPT driver.
+ */
+struct GPTDriver {
+  /**
+   * @brief Driver state.
+   */
+  gptstate_t                state;
+  /**
+   * @brief Current configuration data.
+   */
+  const GPTConfig           *config;
+#if defined(GPT_DRIVER_EXT_FIELDS)
+  GPT_DRIVER_EXT_FIELDS
+#endif
+  /* End of the mandatory fields.*/
+  /**
+   * @brief Pointer to the GPT registers block.
+   */
+  GPT_TypeDef               *gpt;
+};
+
+/*===========================================================================*/
+/* Driver macros.                                                            */
+/*===========================================================================*/
+
+/**
+ * @brief   Changes the interval of GPT peripheral.
+ * @details This function changes the interval of a running GPT unit.
+ * @pre     The GPT unit must have been activated using @p gptStart().
+ * @pre     The GPT unit must have been running in continuous mode using
+ *          @p gptStartContinuous().
+ * @post    The GPT unit interval is changed to the new value.
+ * @note    The function has effect at the next cycle start.
+ *
+ * @param[in] gptp      pointer to a @p GPTDriver object
+ * @param[in] interval  new cycle time in timer ticks
+ * @notapi
+ */
+#define gpt_lld_change_interval(gptp, interval) {                           \
+  gptp->gpt->TAILR = interval - 1;                                          \
+}
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#if TIVA_GPT_USE_GPT0 && !defined(__DOXYGEN__)
+extern GPTDriver GPTD1;
+#endif
+
+#if TIVA_GPT_USE_GPT1 && !defined(__DOXYGEN__)
+extern GPTDriver GPTD2;
+#endif
+
+#if TIVA_GPT_USE_GPT2 && !defined(__DOXYGEN__)
+extern GPTDriver GPTD3;
+#endif
+
+#if TIVA_GPT_USE_GPT3 && !defined(__DOXYGEN__)
+extern GPTDriver GPTD4;
+#endif
+
+#if TIVA_GPT_USE_GPT4 && !defined(__DOXYGEN__)
+extern GPTDriver GPTD5;
+#endif
+
+#if TIVA_GPT_USE_GPT5 && !defined(__DOXYGEN__)
+extern GPTDriver GPTD6;
+#endif
+
+#if TIVA_GPT_USE_WGPT0 && !defined(__DOXYGEN__)
+extern GPTDriver GPTD7;
+#endif
+
+#if TIVA_GPT_USE_WGPT1 && !defined(__DOXYGEN__)
+extern GPTDriver GPTD8;
+#endif
+
+#if TIVA_GPT_USE_WGPT2 && !defined(__DOXYGEN__)
+extern GPTDriver GPTD9;
+#endif
+
+#if TIVA_GPT_USE_WGPT3 && !defined(__DOXYGEN__)
+extern GPTDriver GPTD10;
+#endif
+
+#if TIVA_GPT_USE_WGPT4 && !defined(__DOXYGEN__)
+extern GPTDriver GPTD11;
+#endif
+
+#if TIVA_GPT_USE_WGPT5 && !defined(__DOXYGEN__)
+extern GPTDriver GPTD12;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void gpt_lld_init(void);
+  void gpt_lld_start(GPTDriver *gptp);
+  void gpt_lld_stop(GPTDriver *gptp);
+  void gpt_lld_start_timer(GPTDriver *gptp, gptcnt_t period);
+  void gpt_lld_stop_timer(GPTDriver *gptp);
+  void gpt_lld_polled_delay(GPTDriver *gptp, gptcnt_t interval);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_GPT */
+
+#endif /* HAL_GPT_LLD_H */
+
+/** @} */
diff --git a/os/hal/ports/TIVA/LLD/GPTM/hal_st_lld.c b/os/hal/ports/TIVA/LLD/GPTM/hal_st_lld.c
new file mode 100644
index 0000000..30fdb8a
--- /dev/null
+++ b/os/hal/ports/TIVA/LLD/GPTM/hal_st_lld.c
@@ -0,0 +1,253 @@
+/*
+    Copyright (C) 2014..2016 Marco Veeneman
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    Tiva/LLD/st_lld.c
+ * @brief   ST Driver subsystem low level driver code.
+ *
+ * @addtogroup ST
+ * @{
+ */
+
+#include "hal.h"
+
+#if (OSAL_ST_MODE != OSAL_ST_MODE_NONE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions.                                                 */
+/*===========================================================================*/
+
+#if OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING
+
+#if (TIVA_ST_USE_WIDE_TIMER == TRUE)
+
+#if TIVA_ST_TIMER_NUMBER == 0
+#define ST_HANDLER                          TIVA_WGPT0A_HANDLER
+#define ST_NUMBER                           TIVA_WGPT0A_NUMBER
+#define ST_ENABLE_CLOCK()                   (SYSCTL->RCGCWTIMER |= (1 << 0))
+#define ST_WAIT_CLOCK()                     while (!(SYSCTL->PRWTIMER & (1 << 0)))
+
+#elif TIVA_ST_TIMER_NUMBER == 1
+#define ST_HANDLER                          TIVA_WGPT1A_HANDLER
+#define ST_NUMBER                           TIVA_WGPT1A_NUMBER
+#define ST_ENABLE_CLOCK()                   (SYSCTL->RCGCWTIMER |= (1 << 1))
+#define ST_WAIT_CLOCK()                     while (!(SYSCTL->PRWTIMER & (1 << 1)))
+
+#elif TIVA_ST_TIMER_NUMBER == 2
+#define ST_HANDLER                          TIVA_WGPT2A_HANDLER
+#define ST_NUMBER                           TIVA_WGPT2A_NUMBER
+#define ST_ENABLE_CLOCK()                   (SYSCTL->RCGCWTIMER |= (1 << 2))
+#define ST_WAIT_CLOCK()                     while (!(SYSCTL->PRWTIMER & (1 << 2)))
+
+#elif TIVA_ST_TIMER_NUMBER == 3
+#define ST_HANDLER                          TIVA_WGPT3A_HANDLER
+#define ST_NUMBER                           TIVA_WGPT3A_NUMBER
+#define ST_ENABLE_CLOCK()                   (SYSCTL->RCGCWTIMER |= (1 << 3))
+#define ST_WAIT_CLOCK()                     while (!(SYSCTL->PRWTIMER & (1 << 3)))
+
+#elif TIVA_ST_TIMER_NUMBER == 4
+#define ST_HANDLER                          TIVA_WGPT4A_HANDLER
+#define ST_NUMBER                           TIVA_WGPT4A_NUMBER
+#define ST_ENABLE_CLOCK()                   (SYSCTL->RCGCWTIMER |= (1 << 4))
+#define ST_WAIT_CLOCK()                     while (!(SYSCTL->PRWTIMER & (1 << 4)))
+
+#elif TIVA_ST_TIMER_NUMBER == 5
+#define ST_HANDLER                          TIVA_WGPT5A_HANDLER
+#define ST_NUMBER                           TIVA_WGPT5A_NUMBER
+#define ST_ENABLE_CLOCK()                   (SYSCTL->RCGCWTIMER |= (1 << 5))
+#define ST_WAIT_CLOCK()                     while (!(SYSCTL->PRWTIMER & (1 << 5)))
+
+#else
+#error "TIVA_ST_USE_TIMER specifies an unsupported timer"
+#endif
+
+#if (ST_CLOCK_SRC / OSAL_ST_FREQUENCY) - 1 > 0xFFFF
+#error "the selected ST frequency is not obtainable because TIM timer prescaler limits"
+#endif
+
+#elif (TIVA_ST_USE_WIDE_TIMER == FALSE)
+
+#if TIVA_ST_TIMER_NUMBER == 0
+#define ST_HANDLER                          TIVA_GPT0A_HANDLER
+#define ST_NUMBER                           TIVA_GPT0A_NUMBER
+#define ST_ENABLE_CLOCK()                   (SYSCTL->RCGCTIMER |= (1 << 0))
+#define ST_WAIT_CLOCK()                     while (!(SYSCTL->PRTIMER & (1 << 0)))
+
+#elif TIVA_ST_TIMER_NUMBER == 1
+#define ST_HANDLER                          TIVA_GPT1A_HANDLER
+#define ST_NUMBER                           TIVA_GPT1A_NUMBER
+#define ST_ENABLE_CLOCK()                   (SYSCTL->RCGCTIMER |= (1 << 1))
+#define ST_WAIT_CLOCK()                     while (!(SYSCTL->PRTIMER & (1 << 1)))
+
+#elif TIVA_ST_TIMER_NUMBER == 2
+#define ST_HANDLER                          TIVA_GPT2A_HANDLER
+#define ST_NUMBER                           TIVA_GPT2A_NUMBER
+#define ST_ENABLE_CLOCK()                   (SYSCTL->RCGCTIMER |= (1 << 2))
+#define ST_WAIT_CLOCK()                     while (!(SYSCTL->PRTIMER & (1 << 2)))
+
+#elif TIVA_ST_TIMER_NUMBER == 3
+#define ST_HANDLER                          TIVA_GPT3A_HANDLER
+#define ST_NUMBER                           TIVA_GPT3A_NUMBER
+#define ST_ENABLE_CLOCK()                   (SYSCTL->RCGCTIMER |= (1 << 3))
+#define ST_WAIT_CLOCK()                     while (!(SYSCTL->PRTIMER & (1 << 3)))
+
+#elif TIVA_ST_TIMER_NUMBER == 4
+#define ST_HANDLER                          TIVA_GPT4A_HANDLER
+#define ST_NUMBER                           TIVA_GPT4A_NUMBER
+#define ST_ENABLE_CLOCK()                   (SYSCTL->RCGCTIMER |= (1 << 4))
+#define ST_WAIT_CLOCK()                     while (!(SYSCTL->PRTIMER & (1 << 4)))
+
+#elif TIVA_ST_TIMER_NUMBER == 5
+#define ST_HANDLER                          TIVA_GPT5A_HANDLER
+#define ST_NUMBER                           TIVA_GPT5A_NUMBER
+#define ST_ENABLE_CLOCK()                   (SYSCTL->RCGCTIMER |= (1 << 5))
+#define ST_WAIT_CLOCK()                     while (!(SYSCTL->PRTIMER & (1 << 5)))
+
+#else
+#error "TIVA_ST_USE_TIMER specifies an unsupported timer"
+#endif
+
+#if (TIVA_SYSCLK / OSAL_ST_FREQUENCY) - 1 > 0xFF
+#error "the selected ST frequency is not obtainable because TIM timer prescaler limits"
+#endif
+
+#endif
+
+#if TIVA_SYSCLK % OSAL_ST_FREQUENCY != 0
+#error "the selected ST frequency is not obtainable because integer rounding"
+#endif
+
+#endif
+
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local types.                                                       */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver interrupt handlers.                                                */
+/*===========================================================================*/
+
+#if (OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC) || defined(__DOXYGEN__)
+/**
+ * @brief   System Timer vector.
+ * @details This interrupt is used for system tick in periodic mode.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(SysTick_Handler)
+{
+  OSAL_IRQ_PROLOGUE();
+
+  osalSysLockFromISR();
+  osalOsTimerHandlerI();
+  osalSysUnlockFromISR();
+
+  OSAL_IRQ_EPILOGUE();
+}
+#endif /* OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC */
+
+#if (OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING) || defined(__DOXYGEN__)
+/**
+ * @brief   GPT interrupt handler.
+ * @details This interrupt is used for system tick in free running mode.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(ST_HANDLER)
+{
+  uint32_t mis;
+
+  OSAL_IRQ_PROLOGUE();
+
+  mis = TIVA_ST_TIM->MIS;
+  TIVA_ST_TIM->ICR = mis;
+
+  if (mis & GPTM_IMR_TAMIM) {
+    osalSysLockFromISR();
+    osalOsTimerHandlerI();
+    osalSysUnlockFromISR();
+  }
+
+  OSAL_IRQ_EPILOGUE();
+}
+#endif /* OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING */
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   Low level ST driver initialization.
+ *
+ * @notapi
+ */
+void st_lld_init(void)
+{
+#if OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING
+  /* Free running counter mode.*/
+
+  /* Enabling timer clock.*/
+  ST_ENABLE_CLOCK();
+
+  /* Wait until timer peripheral is ready */
+  ST_WAIT_CLOCK();
+
+  /* Initializing the counter in free running down mode.*/
+  TIVA_ST_TIM->CTL  = 0;
+  TIVA_ST_TIM->CFG  = GPTM_CFG_CFG_SPLIT;       /* Timer split mode */
+  TIVA_ST_TIM->TAMR = (GPTM_TAMR_TAMR_PERIODIC |/* Periodic mode */
+                       GPTM_TAMR_TAMIE |        /* Match interrupt enable */
+                       GPTM_TAMR_TASNAPS);      /* Snapshot mode */
+
+  TIVA_ST_TIM->TAPR = (TIVA_SYSCLK / OSAL_ST_FREQUENCY) - 1;
+  TIVA_ST_TIM->CTL  = (GPTM_CTL_TAEN |          /* Timer A enable */
+                       GPTM_CTL_TASTALL);       /* Timer A stall when paused */
+
+  /* IRQ enabled.*/
+  nvicEnableVector(ST_NUMBER, TIVA_ST_IRQ_PRIORITY);
+#endif /* OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING */
+
+#if OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC
+  /* Periodic systick mode, the Cortex-Mx internal systick timer is used
+     in this mode.*/
+  SysTick->LOAD = (TIVA_SYSCLK / OSAL_ST_FREQUENCY) - 1;
+  SysTick->VAL = 0;
+  SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk |
+                  SysTick_CTRL_ENABLE_Msk |
+                  SysTick_CTRL_TICKINT_Msk;
+
+  /* IRQ enabled.*/
+  nvicSetSystemHandlerPriority(HANDLER_SYSTICK, TIVA_ST_IRQ_PRIORITY);
+#endif /* OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC */
+}
+
+#endif /* OSAL_ST_MODE != OSAL_ST_MODE_NONE */
+
+/**
+ * @}
+ */
diff --git a/os/hal/ports/TIVA/LLD/GPTM/hal_st_lld.h b/os/hal/ports/TIVA/LLD/GPTM/hal_st_lld.h
new file mode 100644
index 0000000..35bf008
--- /dev/null
+++ b/os/hal/ports/TIVA/LLD/GPTM/hal_st_lld.h
@@ -0,0 +1,276 @@
+/*
+    Copyright (C) 2014..2016 Marco Veeneman
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    Tiva/LLD/st_lld.h
+ * @brief   ST Driver subsystem low level driver header.
+ * @details This header is designed to be include-able without having to
+ *          include other files from the HAL.
+ *
+ * @addtogroup ST
+ * @{
+ */
+
+#ifndef HAL_ST_LLD_H
+#define HAL_ST_LLD_H
+
+#include "mcuconf.h"
+#include "tiva_registry.h"
+#include "tiva_gpt.h"
+
+/*===========================================================================*/
+/* Driver constants.                                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @name    Configuration options
+ * @{
+ */
+
+/**
+ * @brief   SysTick timer IRQ priority.
+ */
+#if !defined(TIVA_ST_IRQ_PRIORITY) || defined(__DOXYGEN__)
+#define TIVA_ST_IRQ_PRIORITY                2
+#endif
+
+/**
+ * @brief   GPTx unit (by number) to be used for free running operations.
+ * @note    You must select a 32 bits timer if a 32 bits @p systick_t type
+ *          is required.
+ */
+#if !defined(TIVA_ST_TIMER_NUMBER) || defined(__DOXYGEN__)
+#define TIVA_ST_TIMER_NUMBER                0
+#endif
+
+/**
+ * @brief   When set to @p TRUE a wide timer is used. When set to @p FALSE a
+ *          normal timer is used.
+ */
+#if !defined(TIVA_ST_USE_WIDE_TIMER) || defined(__DOXYGEN__)
+#define TIVA_ST_USE_WIDE_TIMER              TRUE
+#endif
+
+/**
+ * @}
+ */
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+#if (TIVA_ST_USE_WIDE_TIMER == TRUE)
+
+#if TIVA_ST_TIMER_NUMBER == 0
+#if !TIVA_HAS_WGPT0
+#error "WGPT0 not present"
+#endif
+#define TIVA_ST_TIM                         WGPT0
+
+#elif TIVA_ST_TIMER_NUMBER == 1
+#if !TIVA_HAS_WGPT1
+#error "WGPT1 not present"
+#endif
+#define TIVA_ST_TIM                         WGPT1
+
+#elif TIVA_ST_TIMER_NUMBER == 2
+#if !TIVA_HAS_WGPT2
+#error "WGPT2 not present"
+#endif
+#define TIVA_ST_TIM                         WGPT2
+
+#elif TIVA_ST_TIMER_NUMBER == 3
+#if !TIVA_HAS_WGPT3
+#error "WGPT3 not present"
+#endif
+#define TIVA_ST_TIM                         WGPT3
+
+#elif TIVA_ST_TIMER_NUMBER == 4
+#if !TIVA_HAS_WGPT4
+#error "WGPT4 not present"
+#endif
+#define TIVA_ST_TIM                         WGPT4
+
+#elif TIVA_ST_TIMER_NUMBER == 5
+#if !TIVA_HAS_WGPT5
+#error "WGPT5 not present"
+#endif
+#define TIVA_ST_TIM                         WGPT5
+
+#else
+#error "TIVA_ST_USE_TIMER specifies an unsupported timer"
+#endif
+
+#elif (TIVA_ST_USE_WIDE_TIMER == FALSE)
+
+#if TIVA_ST_TIMER_NUMBER == 0
+#if !TIVA_HAS_GPT0
+#error "GPT0 not present"
+#endif
+#define TIVA_ST_TIM                         GPT0
+
+#elif TIVA_ST_TIMER_NUMBER == 1
+#if !TIVA_HAS_GPT1
+#error "GPT1 not present"
+#endif
+#define TIVA_ST_TIM                         GPT1
+
+#elif TIVA_ST_TIMER_NUMBER == 2
+#if !TIVA_HAS_GPT2
+#error "GPT2 not present"
+#endif
+#define TIVA_ST_TIM                         GPT2
+
+#elif TIVA_ST_TIMER_NUMBER == 3
+#if !TIVA_HAS_GPT3
+#error "GPT3 not present"
+#endif
+#define TIVA_ST_TIM                         GPT3
+
+#elif TIVA_ST_TIMER_NUMBER == 4
+#if !TIVA_HAS_GPT4
+#error "GPT4 not present"
+#endif
+#define TIVA_ST_TIM                         GPT4
+
+#elif TIVA_ST_TIMER_NUMBER == 5
+#if !TIVA_HAS_GPT5
+#error "GPT5 not present"
+#endif
+#define TIVA_ST_TIM                         GPT5
+
+#else
+#error "TIVA_ST_TIMER_NUMBER specifies an unsupported timer"
+#endif
+
+#else
+#error "wrong value defined for TIVA_ST_USE_WIDE_TIMER"
+#endif
+
+#if OSAL_ST_MODE != OSAL_ST_MODE_NONE && \
+    !OSAL_IRQ_IS_VALID_PRIORITY(TIVA_ST_IRQ_PRIORITY)
+#error "Invalid IRQ priority assigned to ST"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver macros.                                                            */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void st_lld_init(void);
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Driver inline functions.                                                  */
+/*===========================================================================*/
+
+/**
+ * @brief   Returns the time counter value.
+ *
+ * @return              The counter value.
+ *
+ * @notapi
+ */
+static inline systime_t st_lld_get_counter(void)
+{
+  return (systime_t) (((systime_t) 0xffffffff) - TIVA_ST_TIM->TAR);
+}
+
+/**
+ * @brief   Starts the alarm.
+ * @note    Makes sure that no spurious alarms are triggered after
+ *          this call.
+ *
+ * @param[in] time      the time to be set for the first alarm
+ *
+ * @notapi
+ */
+static inline void st_lld_start_alarm(systime_t time)
+{
+  TIVA_ST_TIM->TAMATCHR = (systime_t) (((systime_t) 0xffffffff) - time);
+  TIVA_ST_TIM->ICR = TIVA_ST_TIM->MIS;
+  TIVA_ST_TIM->IMR = GPTM_IMR_TAMIM;
+}
+
+/**
+ * @brief   Stops the alarm interrupt.
+ *
+ * @notapi
+ */
+static inline void st_lld_stop_alarm(void)
+{
+  TIVA_ST_TIM->IMR = 0;
+}
+
+/**
+ * @brief   Sets the alarm time.
+ *
+ * @param[in] time      the time to be set for the next alarm
+ *
+ * @notapi
+ */
+static inline void st_lld_set_alarm(systime_t time)
+{
+  TIVA_ST_TIM->TAMATCHR = (systime_t) (((systime_t) 0xffffffff) - time);
+}
+
+/**
+ * @brief   Returns the current alarm time.
+ *
+ * @return              The currently set alarm time.
+ *
+ * @notapi
+ */
+static inline systime_t st_lld_get_alarm(void)
+{
+  return (systime_t) (((systime_t)0xffffffff) - TIVA_ST_TIM->TAMATCHR);
+}
+
+/**
+ * @brief   Determines if the alarm is active.
+ *
+ * @return              The alarm status.
+ * @retval false        if the alarm is not active.
+ * @retval true         is the alarm is active
+ *
+ * @notapi
+ */
+static inline bool st_lld_is_alarm_active(void)
+{
+  return (bool) ((TIVA_ST_TIM->IMR & GPTM_IMR_TAMIM) !=0);
+}
+
+#endif /* HAL_ST_LLD_H */
+
+/**
+ * @}
+ */
diff --git a/os/hal/ports/TIVA/LLD/GPTM/tiva_gpt.h b/os/hal/ports/TIVA/LLD/GPTM/tiva_gpt.h
new file mode 100644
index 0000000..114831b
--- /dev/null
+++ b/os/hal/ports/TIVA/LLD/GPTM/tiva_gpt.h
@@ -0,0 +1,135 @@
+/*
+    Copyright (C) 2014..2016 Marco Veeneman
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    tiva_gpt.h
+ * @brief   TIVA GPT registers layout header.
+ *
+ * @addtogroup TIVA_GPT
+ * @{
+ */
+
+#ifndef TIVA_GPT_H_
+#define TIVA_GPT_H_
+
+// cfg
+#define GPTM_CFG_CFG_MASK       (7 << 0)
+#define GPTM_CFG_CFG_WHOLE      (0 << 0)
+#define GPTM_CFG_CFG_RTC        (1 << 0)
+#define GPTM_CFG_CFG_SPLIT      (4 << 0)
+
+// tamr
+#define GPTM_TAMR_TAMR_MASK     (3 << 0)
+#define GPTM_TAMR_TAMR_ONESHOT  (1 << 0)
+#define GPTM_TAMR_TAMR_PERIODIC (2 << 0)
+#define GPTM_TAMR_TAMR_CAPTURE  (3 << 0)
+
+#define GPTM_TAMR_TACMR         (1 << 2)
+
+#define GPTM_TAMR_TAAMS         (1 << 3)
+
+#define GPTM_TAMR_TACDIR        (1 << 4)
+
+#define GPTM_TAMR_TAMIE         (1 << 5)
+
+#define GPTM_TAMR_TAWOT         (1 << 6)
+
+#define GPTM_TAMR_TASNAPS       (1 << 7)
+
+#define GPTM_TAMR_TAILD         (1 << 8)
+
+#define GPTM_TAMR_TAPWMIE       (1 << 9)
+
+#define GPTM_TAMR_TAMRSU        (1 << 10)
+
+#define GPTM_TAMR_TAPLO         (1 << 11)
+
+// ctl
+#define GPTM_CTL_TAEN           (1 << 0)
+
+#define GPTM_CTL_TASTALL        (1 << 1)
+
+#define GPTM_CTL_TAEVENT_MASK   (3 << 2)
+#define GPTM_CTL_TAEVENT_POS    (0 << 2)
+#define GPTM_CTL_TAEVENT_NEG    (1 << 2)
+#define GPTM_CTL_TAEVENT_BOTH   (3 << 2)
+
+#define GPTM_CTL_RTCEN          (1 << 4)
+
+#define GPTM_CTL_TAOTE          (1 << 5)
+
+#define GPTM_CTL_TAPWML         (1 << 6)
+
+#define GPTM_CTL_TBEN           (1 << 8)
+
+#define GPTM_CTL_TBSTALL        (1 << 9)
+
+#define GPTM_CTL_TBEVENT_MASK   (3 << 10)
+#define GPTM_CTL_TBEVENT_POS    (0 << 10)
+#define GPTM_CTL_TBEVENT_NEG    (1 << 10)
+#define GPTM_CTL_TBEVENT_BOTH   (3 << 10)
+
+#define GPTM_CTL_TBOTE          (1 << 13)
+
+#define GPTM_CTL_TBPWML         (1 << 14)
+
+// imr
+#define GPTM_IMR_TATOIM         (1 << 0)
+
+#define GPTM_IMR_CAMIM          (1 << 1)
+
+#define GPTM_IMR_CAEIM          (1 << 2)
+
+#define GPTM_IMR_RTCIM          (1 << 3)
+
+#define GPTM_IMR_TAMIM          (1 << 4)
+
+#define GPTM_IMR_TBTOIM         (1 << 8)
+
+#define GPTM_IMR_CBMIM          (1 << 9)
+
+#define GPTM_IMR_CBEIM          (1 << 10)
+
+#define GPTM_IMR_TBMIM          (1 << 11)
+
+#define GPTM_IMR_WUEIM          (1 << 16)
+
+// icr
+#define GPTM_ICR_TATOCINT         (1 << 0)
+
+#define GPTM_ICR_CAMCINT          (1 << 1)
+
+#define GPTM_ICR_CAECINT          (1 << 2)
+
+#define GPTM_ICR_RTCCINT          (1 << 3)
+
+#define GPTM_ICR_TAMCINT          (1 << 4)
+
+#define GPTM_ICR_TBTOCINT         (1 << 8)
+
+#define GPTM_ICR_CBMCINT          (1 << 9)
+
+#define GPTM_ICR_CBECINT          (1 << 10)
+
+#define GPTM_ICR_TBMCINT          (1 << 11)
+
+#define GPTM_ICR_WUECINT          (1 << 16)
+
+#endif /* TIVA_GPT_H_ */
+
+/*
+ * @}
+ */