git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@2850 35acf78f-673a-0410-8e92-d51de3d6d3f4

32 files changed, 517 insertions, 130 deletions

diff --git a/docs/Doxyfile_chm b/docs/Doxyfile_chm
index 83957f61b..be256da4e 100644
--- a/docs/Doxyfile_chm
+++ b/docs/Doxyfile_chm
@@ -1,4 +1,4 @@
-# Doxyfile 1.7.3

+# Doxyfile 1.7.4

 

 # This file describes the settings to be used by the documentation system

 # doxygen (www.doxygen.org) for a project.

@@ -33,7 +33,9 @@ PROJECT_NAME           = ChibiOS/RT
 

 PROJECT_NUMBER         = 2.3.1

 

-# Using the PROJECT_BRIEF tag one can provide an optional one line description for a project that appears at the top of each page and should give viewer a quick idea about the purpose of the project. Keep the description short.

+# Using the PROJECT_BRIEF tag one can provide an optional one line description

+# for a project that appears at the top of each page and should give viewer

+# a quick idea about the purpose of the project. Keep the description short.

 

 PROJECT_BRIEF          =

 

@@ -304,6 +306,13 @@ DISTRIBUTE_GROUP_DOC   = NO
 

 SUBGROUPING            = YES

 

+# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and

+# unions are shown inside the group in which they are included (e.g. using

+# @ingroup) instead of on a separate page (for HTML and Man pages) or

+# section (for LaTeX and RTF).

+

+INLINE_GROUPED_CLASSES = NO

+

 # When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum

 # is documented as struct, union, or enum with the name of the typedef. So

 # typedef struct TypeS {} TypeT, will appear in the documentation as a struct

@@ -479,8 +488,11 @@ SORT_GROUP_NAMES       = NO
 

 SORT_BY_SCOPE_NAME     = NO

 

-# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper type resolution of all parameters of a function it will reject a

-# match between the prototype and the implementation of a member function even if there is only one candidate or it is obvious which candidate to choose by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen

+# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to

+# do proper type resolution of all parameters of a function it will reject a

+# match between the prototype and the implementation of a member function even

+# if there is only one candidate or it is obvious which candidate to choose

+# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen

 # will still accept a match between prototype and implementation in such cases.

 

 STRICT_PROTO_MATCHING  = NO

@@ -924,7 +936,13 @@ HTML_FILE_EXTENSION    = .html
 

 # The HTML_HEADER tag can be used to specify a personal HTML header for

 # each generated HTML page. If it is left blank doxygen will generate a

-# standard header.

+# standard header. Note that when using a custom header you are responsible

+# for the proper inclusion of any scripts and style sheets that doxygen

+# needs, which is dependent on the configuration options used.

+# It is adviced to generate a default header using "doxygen -w html

+# header.html footer.html stylesheet.css YourConfigFile" and then modify

+# that header. Note that the header is subject to change so you typically

+# have to redo this when upgrading to a newer version of doxygen or when changing the value of configuration settings such as GENERATE_TREEVIEW!

 

 HTML_HEADER            = ./rsc/header_chm.html

 

@@ -943,6 +961,15 @@ HTML_FOOTER            = ./rsc/footer_chm.html
 

 HTML_STYLESHEET        =

 

+# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or

+# other source files which should be copied to the HTML output directory. Note

+# that these files will be copied to the base HTML output directory. Use the

+# $relpath$ marker in the HTML_HEADER and/or HTML_FOOTER files to load these

+# files. In the HTML_STYLESHEET file, use the file name only. Also note that

+# the files will be copied as-is; there are no commands or markers available.

+

+HTML_EXTRA_FILES       =

+

 # The HTML_COLORSTYLE_HUE tag controls the color of the HTML output.

 # Doxygen will adjust the colors in the stylesheet and background images

 # according to this color. Hue is specified as an angle on a colorwheel,

@@ -1145,9 +1172,10 @@ ECLIPSE_DOC_ID         = org.doxygen.Project
 

 DISABLE_INDEX          = NO

 

-# This tag can be used to set the number of enum values (range [0,1..20])

-# that doxygen will group on one line in the generated HTML documentation.

-# Note that a value of 0 will completely suppress the enum values from appearing in the overview section.

+# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values

+# (range [0,1..20]) that doxygen will group on one line in the generated HTML

+# documentation. Note that a value of 0 will completely suppress the enum

+# values from appearing in the overview section.

 

 ENUM_VALUES_PER_LINE   = 4

 

@@ -1206,7 +1234,8 @@ USE_MATHJAX            = NO
 # HTML output directory using the MATHJAX_RELPATH option. The destination

 # directory should contain the MathJax.js script. For instance, if the mathjax

 # directory is located at the same level as the HTML output directory, then

-# MATHJAX_RELPATH should be ../mathjax. The default value points to the mathjax.org site, so you can quickly see the result without installing

+# MATHJAX_RELPATH should be ../mathjax. The default value points to the

+# mathjax.org site, so you can quickly see the result without installing

 # MathJax, but it is strongly recommended to install a local copy of MathJax

 # before deployment.

 

@@ -1285,6 +1314,13 @@ EXTRA_PACKAGES         =
 

 LATEX_HEADER           =

 

+# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for

+# the generated latex document. The footer should contain everything after

+# the last chapter. If it is left blank doxygen will generate a

+# standard footer. Notice: only use this tag if you know what you are doing!

+

+LATEX_FOOTER           =

+

 # If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated

 # is prepared for conversion to pdf (using ps2pdf). The pdf file will

 # contain links (just like the HTML output) instead of page references

@@ -1494,7 +1530,7 @@ MACRO_EXPANSION        = YES
 EXPAND_ONLY_PREDEF     = YES

 

 # If the SEARCH_INCLUDES tag is set to YES (the default) the includes files

-# in the INCLUDE_PATH (see below) will be search if a #include is found.

+# pointed to by INCLUDE_PATH will be searched when a #include is found.

 

 SEARCH_INCLUDES        = YES

 

@@ -1524,7 +1560,8 @@ PREDEFINED             = __DOXYGEN__
 # If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then

 # this tag can be used to specify a list of macro names that should be expanded.

 # The macro definition that is found in the sources will be used.

-# Use the PREDEFINED tag if you want to use a different macro definition that overrules the definition found in the source code.

+# Use the PREDEFINED tag if you want to use a different macro definition that

+# overrules the definition found in the source code.

 

 EXPAND_AS_DEFINED      =

 

@@ -1717,7 +1754,7 @@ GRAPHICAL_HIERARCHY    = YES
 DIRECTORY_GRAPH        = NO

 

 # The DOT_IMAGE_FORMAT tag can be used to set the image format of the images

-# generated by dot. Possible values are png, svg, gif or svg.

+# generated by dot. Possible values are svg, png, jpg, or gif.

 # If left blank png will be used.

 

 DOT_IMAGE_FORMAT       = png

diff --git a/docs/Doxyfile_html b/docs/Doxyfile_html
index 8a6ca46a4..fb83e9e23 100644
--- a/docs/Doxyfile_html
+++ b/docs/Doxyfile_html
@@ -1,4 +1,4 @@
-# Doxyfile 1.7.3

+# Doxyfile 1.7.4

 

 # This file describes the settings to be used by the documentation system

 # doxygen (www.doxygen.org) for a project.

@@ -33,7 +33,9 @@ PROJECT_NAME           = ChibiOS/RT
 

 PROJECT_NUMBER         = 2.3.1

 

-# Using the PROJECT_BRIEF tag one can provide an optional one line description for a project that appears at the top of each page and should give viewer a quick idea about the purpose of the project. Keep the description short.

+# Using the PROJECT_BRIEF tag one can provide an optional one line description

+# for a project that appears at the top of each page and should give viewer

+# a quick idea about the purpose of the project. Keep the description short.

 

 PROJECT_BRIEF          =

 

@@ -304,6 +306,13 @@ DISTRIBUTE_GROUP_DOC   = NO
 

 SUBGROUPING            = YES

 

+# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and

+# unions are shown inside the group in which they are included (e.g. using

+# @ingroup) instead of on a separate page (for HTML and Man pages) or

+# section (for LaTeX and RTF).

+

+INLINE_GROUPED_CLASSES = NO

+

 # When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum

 # is documented as struct, union, or enum with the name of the typedef. So

 # typedef struct TypeS {} TypeT, will appear in the documentation as a struct

@@ -479,8 +488,11 @@ SORT_GROUP_NAMES       = NO
 

 SORT_BY_SCOPE_NAME     = NO

 

-# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper type resolution of all parameters of a function it will reject a

-# match between the prototype and the implementation of a member function even if there is only one candidate or it is obvious which candidate to choose by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen

+# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to

+# do proper type resolution of all parameters of a function it will reject a

+# match between the prototype and the implementation of a member function even

+# if there is only one candidate or it is obvious which candidate to choose

+# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen

 # will still accept a match between prototype and implementation in such cases.

 

 STRICT_PROTO_MATCHING  = NO

@@ -924,7 +936,13 @@ HTML_FILE_EXTENSION    = .html
 

 # The HTML_HEADER tag can be used to specify a personal HTML header for

 # each generated HTML page. If it is left blank doxygen will generate a

-# standard header.

+# standard header. Note that when using a custom header you are responsible

+# for the proper inclusion of any scripts and style sheets that doxygen

+# needs, which is dependent on the configuration options used.

+# It is adviced to generate a default header using "doxygen -w html

+# header.html footer.html stylesheet.css YourConfigFile" and then modify

+# that header. Note that the header is subject to change so you typically

+# have to redo this when upgrading to a newer version of doxygen or when changing the value of configuration settings such as GENERATE_TREEVIEW!

 

 HTML_HEADER            = ./rsc/header_html.html

 

@@ -943,6 +961,15 @@ HTML_FOOTER            = ./rsc/footer_html.html
 

 HTML_STYLESHEET        =

 

+# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or

+# other source files which should be copied to the HTML output directory. Note

+# that these files will be copied to the base HTML output directory. Use the

+# $relpath$ marker in the HTML_HEADER and/or HTML_FOOTER files to load these

+# files. In the HTML_STYLESHEET file, use the file name only. Also note that

+# the files will be copied as-is; there are no commands or markers available.

+

+HTML_EXTRA_FILES       =

+

 # The HTML_COLORSTYLE_HUE tag controls the color of the HTML output.

 # Doxygen will adjust the colors in the stylesheet and background images

 # according to this color. Hue is specified as an angle on a colorwheel,

@@ -1145,9 +1172,10 @@ ECLIPSE_DOC_ID         = org.doxygen.Project
 

 DISABLE_INDEX          = NO

 

-# This tag can be used to set the number of enum values (range [0,1..20])

-# that doxygen will group on one line in the generated HTML documentation.

-# Note that a value of 0 will completely suppress the enum values from appearing in the overview section.

+# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values

+# (range [0,1..20]) that doxygen will group on one line in the generated HTML

+# documentation. Note that a value of 0 will completely suppress the enum

+# values from appearing in the overview section.

 

 ENUM_VALUES_PER_LINE   = 4

 

@@ -1206,7 +1234,8 @@ USE_MATHJAX            = NO
 # HTML output directory using the MATHJAX_RELPATH option. The destination

 # directory should contain the MathJax.js script. For instance, if the mathjax

 # directory is located at the same level as the HTML output directory, then

-# MATHJAX_RELPATH should be ../mathjax. The default value points to the mathjax.org site, so you can quickly see the result without installing

+# MATHJAX_RELPATH should be ../mathjax. The default value points to the

+# mathjax.org site, so you can quickly see the result without installing

 # MathJax, but it is strongly recommended to install a local copy of MathJax

 # before deployment.

 

@@ -1285,6 +1314,13 @@ EXTRA_PACKAGES         =
 

 LATEX_HEADER           =

 

+# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for

+# the generated latex document. The footer should contain everything after

+# the last chapter. If it is left blank doxygen will generate a

+# standard footer. Notice: only use this tag if you know what you are doing!

+

+LATEX_FOOTER           =

+

 # If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated

 # is prepared for conversion to pdf (using ps2pdf). The pdf file will

 # contain links (just like the HTML output) instead of page references

@@ -1494,7 +1530,7 @@ MACRO_EXPANSION        = YES
 EXPAND_ONLY_PREDEF     = YES

 

 # If the SEARCH_INCLUDES tag is set to YES (the default) the includes files

-# in the INCLUDE_PATH (see below) will be search if a #include is found.

+# pointed to by INCLUDE_PATH will be searched when a #include is found.

 

 SEARCH_INCLUDES        = YES

 

@@ -1524,7 +1560,8 @@ PREDEFINED             = __DOXYGEN__
 # If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then

 # this tag can be used to specify a list of macro names that should be expanded.

 # The macro definition that is found in the sources will be used.

-# Use the PREDEFINED tag if you want to use a different macro definition that overrules the definition found in the source code.

+# Use the PREDEFINED tag if you want to use a different macro definition that

+# overrules the definition found in the source code.

 

 EXPAND_AS_DEFINED      =

 

@@ -1717,7 +1754,7 @@ GRAPHICAL_HIERARCHY    = YES
 DIRECTORY_GRAPH        = NO

 

 # The DOT_IMAGE_FORMAT tag can be used to set the image format of the images

-# generated by dot. Possible values are png, svg, gif or svg.

+# generated by dot. Possible values are svg, png, jpg, or gif.

 # If left blank png will be used.

 

 DOT_IMAGE_FORMAT       = png

diff --git a/docs/readme.txt b/docs/readme.txt
index 23f14ef60..9924d779f 100644
--- a/docs/readme.txt
+++ b/docs/readme.txt
@@ -1,7 +1,7 @@
 *** Documentation build procedure ***

 

 The following software must be installed:

-- Doxygen 1.7.3 or later.

+- Doxygen 1.7.4 or later.

 - Graphviz 2.26.3 or later. The ./bin directory must be specified in the path

   in order to make Graphviz accessible by Doxygen.

 

diff --git a/docs/rsc/layout.xml b/docs/rsc/layout.xml
index 4c98c929e..0a24b84a0 100644
--- a/docs/rsc/layout.xml
+++ b/docs/rsc/layout.xml
@@ -24,7 +24,8 @@
 
   <!-- Layout definition for a class page -->
   <class>
-    <briefdescription visible="yes"/>
+    <briefdescription visible="no"/>
+    <detaileddescription title=""/>
     <includes visible="$SHOW_INCLUDE_FILES"/>
     <inheritancegraph visible="$CLASS_GRAPH"/>
     <collaborationgraph visible="$COLLABORATION_GRAPH"/>
@@ -61,7 +62,6 @@
       <related title="" subtitle=""/>
       <membergroups visible="yes"/>
     </memberdecl>
-    <detaileddescription title=""/>
     <memberdef>
       <typedefs title=""/>
       <enums title=""/>
@@ -78,7 +78,8 @@
 
   <!-- Layout definition for a namespace page -->
   <namespace>
-    <briefdescription visible="yes"/>
+    <briefdescription visible="no"/>
+    <detaileddescription title=""/>
     <memberdecl>
       <nestednamespaces visible="yes" title=""/>
       <classes visible="yes" title=""/>
@@ -88,7 +89,6 @@
       <variables title=""/>
       <membergroups visible="yes"/>
     </memberdecl>
-    <detaileddescription title=""/>
     <memberdef>
       <typedefs title=""/>
       <enums title=""/>
@@ -100,7 +100,8 @@
 
   <!-- Layout definition for a file page -->
   <file>
-    <briefdescription visible="yes"/>
+    <briefdescription visible="no"/>
+    <detaileddescription title=""/>
     <includes visible="$SHOW_INCLUDE_FILES"/>
     <includegraph visible="$INCLUDE_GRAPH"/>
     <includedbygraph visible="$INCLUDED_BY_GRAPH"/>
@@ -115,7 +116,6 @@
       <enums title=""/>
       <membergroups visible="yes"/>
     </memberdecl>
-    <detaileddescription title=""/>
     <memberdef>
       <functions title=""/>
       <variables title=""/>
@@ -128,8 +128,9 @@
 
   <!-- Layout definition for a group page -->
   <group>
-    <briefdescription visible="yes"/>
+    <briefdescription visible="no"/>
     <groupgraph visible="$GROUP_GRAPHS"/>
+    <detaileddescription title=""/>
     <memberdecl>
       <classes visible="yes" title=""/>
       <namespaces visible="yes" title=""/>
@@ -151,7 +152,6 @@
       <friends title=""/>
       <membergroups visible="yes"/>
     </memberdecl>
-    <detaileddescription title=""/>
     <memberdef>
       <pagedocs/>
       <functions title=""/>
@@ -173,12 +173,12 @@
 
   <!-- Layout definition for a directory page -->
   <directory>
-    <briefdescription visible="yes"/>
+    <briefdescription visible="no"/>
     <directorygraph visible="yes"/>
+    <detaileddescription title=""/>
     <memberdecl>
       <dirs visible="yes"/>
       <files visible="yes"/>
     </memberdecl>
-    <detaileddescription title=""/>
   </directory>
 </doxygenlayout>
diff --git a/os/hal/hal.mk b/os/hal/hal.mk
index 49561ee8d..52b9fab81 100644
--- a/os/hal/hal.mk
+++ b/os/hal/hal.mk
@@ -5,6 +5,7 @@ HALSRC = ${CHIBIOS}/os/hal/src/hal.c \
          ${CHIBIOS}/os/hal/src/can.c \

          ${CHIBIOS}/os/hal/src/gpt.c \

          ${CHIBIOS}/os/hal/src/i2c.c \

+         ${CHIBIOS}/os/hal/src/icu.c \

          ${CHIBIOS}/os/hal/src/mac.c \

          ${CHIBIOS}/os/hal/src/pal.c \

          ${CHIBIOS}/os/hal/src/pwm.c \

diff --git a/os/hal/include/hal.h b/os/hal/include/hal.h
index bd234a494..400aec17f 100644
--- a/os/hal/include/hal.h
+++ b/os/hal/include/hal.h
@@ -39,6 +39,7 @@
 #include "can.h"

 #include "gpt.h"

 #include "i2c.h"

+#include "icu.h"

 #include "mac.h"

 #include "pwm.h"

 #include "serial.h"

diff --git a/os/hal/platforms/STM32/gpt_lld.c b/os/hal/platforms/STM32/gpt_lld.c
index 0c84b6a0a..ffbfe475c 100644
--- a/os/hal/platforms/STM32/gpt_lld.c
+++ b/os/hal/platforms/STM32/gpt_lld.c
@@ -48,40 +48,40 @@
 /*===========================================================================*/

 

 /**

- * @brief   GPT1 driver identifier.

- * @note    The driver GPT1 allocates the complex timer TIM1 when enabled.

+ * @brief   GPTD1 driver identifier.

+ * @note    The driver GPTD1 allocates the complex timer TIM1 when enabled.

  */

 #if STM32_GPT_USE_TIM1 || defined(__DOXYGEN__)

 GPTDriver GPTD1;

 #endif

 

 /**

- * @brief   GPT2 driver identifier.

- * @note    The driver GPT2 allocates the timer TIM2 when enabled.

+ * @brief   GPTD2 driver identifier.

+ * @note    The driver GPTD2 allocates the timer TIM2 when enabled.

  */

 #if STM32_GPT_USE_TIM2 || defined(__DOXYGEN__)

 GPTDriver GPTD2;

 #endif

 

 /**

- * @brief   GPT3 driver identifier.

- * @note    The driver GPT3 allocates the timer TIM3 when enabled.

+ * @brief   GPTD3 driver identifier.

+ * @note    The driver GPTD3 allocates the timer TIM3 when enabled.

  */

 #if STM32_GPT_USE_TIM3 || defined(__DOXYGEN__)

 GPTDriver GPTD3;

 #endif

 

 /**

- * @brief   GPT4 driver identifier.

- * @note    The driver GPT4 allocates the timer TIM4 when enabled.

+ * @brief   GPTD4 driver identifier.

+ * @note    The driver GPTD4 allocates the timer TIM4 when enabled.

  */

 #if STM32_GPT_USE_TIM4 || defined(__DOXYGEN__)

 GPTDriver GPTD4;

 #endif

 

 /**

- * @brief   GPT5 driver identifier.

- * @note    The driver GPT5 allocates the timer TIM5 when enabled.

+ * @brief   GPTD5 driver identifier.

+ * @note    The driver GPTD5 allocates the timer TIM5 when enabled.

  */

 #if STM32_GPT_USE_TIM5 || defined(__DOXYGEN__)

 GPTDriver GPTD5;

diff --git a/os/hal/platforms/STM32/gpt_lld.h b/os/hal/platforms/STM32/gpt_lld.h
index 37836ddab..2d7fd13f1 100644
--- a/os/hal/platforms/STM32/gpt_lld.h
+++ b/os/hal/platforms/STM32/gpt_lld.h
@@ -40,8 +40,8 @@
 /*===========================================================================*/

 

 /**

- * @brief   GPT1 driver enable switch.

- * @details If set to @p TRUE the support for GPT1 is included.

+ * @brief   GPTD1 driver enable switch.

+ * @details If set to @p TRUE the support for GPTD1 is included.

  * @note    The default is @p TRUE.

  */

 #if !defined(STM32_GPT_USE_TIM1) || defined(__DOXYGEN__)

@@ -49,8 +49,8 @@
 #endif

 

 /**

- * @brief   GPT2 driver enable switch.

- * @details If set to @p TRUE the support for GPT2 is included.

+ * @brief   GPTD2 driver enable switch.

+ * @details If set to @p TRUE the support for GPTD2 is included.

  * @note    The default is @p TRUE.

  */

 #if !defined(STM32_GPT_USE_TIM2) || defined(__DOXYGEN__)

@@ -58,8 +58,8 @@
 #endif

 

 /**

- * @brief   GPT3 driver enable switch.

- * @details If set to @p TRUE the support for GPT3 is included.

+ * @brief   GPTD3 driver enable switch.

+ * @details If set to @p TRUE the support for GPTD3 is included.

  * @note    The default is @p TRUE.

  */

 #if !defined(STM32_GPT_USE_TIM3) || defined(__DOXYGEN__)

@@ -67,8 +67,8 @@
 #endif

 

 /**

- * @brief   GPT4 driver enable switch.

- * @details If set to @p TRUE the support for GPT4 is included.

+ * @brief   GPTD4 driver enable switch.

+ * @details If set to @p TRUE the support for GPTD4 is included.

  * @note    The default is @p TRUE.

  */

 #if !defined(STM32_GPT_USE_TIM4) || defined(__DOXYGEN__)

@@ -76,8 +76,8 @@
 #endif

 

 /**

- * @brief   GPT5 driver enable switch.

- * @details If set to @p TRUE the support for GPT5 is included.

+ * @brief   GPTD5 driver enable switch.

+ * @details If set to @p TRUE the support for GPTD5 is included.

  * @note    The default is @p TRUE.

  */

 #if !defined(STM32_GPT_USE_TIM5) || defined(__DOXYGEN__)

@@ -85,35 +85,35 @@
 #endif

 

 /**

- * @brief   GPT1 interrupt priority level setting.

+ * @brief   GPTD1 interrupt priority level setting.

  */

 #if !defined(STM32_GPT_TIM1_IRQ_PRIORITY) || defined(__DOXYGEN__)

 #define STM32_GPT_TIM1_IRQ_PRIORITY         7

 #endif

 

 /**

- * @brief   GPT2 interrupt priority level setting.

+ * @brief   GPTD2 interrupt priority level setting.

  */

 #if !defined(STM32_GPT_TIM2_IRQ_PRIORITY) || defined(__DOXYGEN__)

 #define STM32_GPT_TIM2_IRQ_PRIORITY         7

 #endif

 

 /**

- * @brief   GPT3 interrupt priority level setting.

+ * @brief   GPTD3 interrupt priority level setting.

  */

 #if !defined(STM32_GPT_TIM3_IRQ_PRIORITY) || defined(__DOXYGEN__)

 #define STM32_GPT_TIM3_IRQ_PRIORITY         7

 #endif

 

 /**

- * @brief   GPT4 interrupt priority level setting.

+ * @brief   GPTD4 interrupt priority level setting.

  */

 #if !defined(STM32_GPT_TIM4_IRQ_PRIORITY) || defined(__DOXYGEN__)

 #define STM32_GPT_TIM4_IRQ_PRIORITY         7

 #endif

 

 /**

- * @brief   GPT5 interrupt priority level setting.

+ * @brief   GPTD5 interrupt priority level setting.

  */

 #if !defined(STM32_GPT_TIM5_IRQ_PRIORITY) || defined(__DOXYGEN__)

 #define STM32_GPT_TIM5_IRQ_PRIORITY         7

@@ -206,6 +206,9 @@ struct GPTDriver {
    * @brief Current configuration data.

    */

   const GPTConfig           *config;

+#if defined(GPT_DRIVER_EXT_FIELDS)

+  GPT_DRIVER_EXT_FIELDS

+#endif

   /* End of the mandatory fields.*/

   /**

    * @brief Timer base clock.

diff --git a/os/hal/platforms/STM32/icu_lld.c b/os/hal/platforms/STM32/icu_lld.c
index 6877b2d72..04c2f6372 100644
--- a/os/hal/platforms/STM32/icu_lld.c
+++ b/os/hal/platforms/STM32/icu_lld.c
@@ -36,13 +36,45 @@
 /*===========================================================================*/

 

 /**

- * @brief   ICU1 driver identifier.

+ * @brief   ICUD1 driver identifier.

  * @note    The driver ICUD1 allocates the complex timer TIM1 when enabled.

  */

 #if STM32_ICU_USE_TIM1 || defined(__DOXYGEN__)

 ICUDriver ICUD1;

 #endif

 

+/**

+ * @brief   ICUD2 driver identifier.

+ * @note    The driver ICUD1 allocates the timer TIM2 when enabled.

+ */

+#if STM32_ICU_USE_TIM2 || defined(__DOXYGEN__)

+ICUDriver ICUD2;

+#endif

+

+/**

+ * @brief   ICUD3 driver identifier.

+ * @note    The driver ICUD1 allocates the timer TIM3 when enabled.

+ */

+#if STM32_ICU_USE_TIM3 || defined(__DOXYGEN__)

+ICUDriver ICUD3;

+#endif

+

+/**

+ * @brief   ICUD4 driver identifier.

+ * @note    The driver ICUD4 allocates the timer TIM4 when enabled.

+ */

+#if STM32_ICU_USE_TIM4 || defined(__DOXYGEN__)

+ICUDriver ICUD4;

+#endif

+

+/**

+ * @brief   ICUD5 driver identifier.

+ * @note    The driver ICUD5 allocates the timer TIM5 when enabled.

+ */

+#if STM32_ICU_USE_TIM5 || defined(__DOXYGEN__)

+ICUDriver ICUD5;

+#endif

+

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

 /* Driver local variables.                                                   */

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

@@ -51,52 +83,120 @@ ICUDriver ICUD1;
 /* Driver local functions.                                                   */

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

 

+/**

+ * @brief   Shared IRQ handler.

+ *

+ * @param[in] icup      pointer to the @p ICUDriver object

+ */

+static void icu_lld_serve_interrupt(ICUDriver *icup) {

+  uint16_t sr;

+

+  sr = TIM1->SR & TIM1->DIER;

+  icup->tim->SR = 0;

+  if ((sr & TIM_SR_CC1IF) != 0)

+    icup->config->period_cb(icup);

+  if ((sr & TIM_SR_CC2IF) != 0)

+    icup->config->width_cb(icup);

+}

+

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

 /* Driver interrupt handlers.                                                */

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

 

 #if STM32_ICU_USE_TIM1

 /**

- * @brief   TIM1 update interrupt handler.

- * @note    It is assumed that this interrupt is only activated if the callback

- *          pointer is not equal to @p NULL in order to not perform an extra

- *          check in a potentially critical interrupt handler.

+ * @brief   TIM1 compare interrupt handler.

+ * @note    It is assumed that the various sources are only activated if the

+ *          associated callback pointer is not equal to @p NULL in order to not

+ *          perform an extra check in a potentially critical interrupt handler.

+ *

+ * @isr

+ */

+CH_IRQ_HANDLER(TIM1_CC_IRQHandler) {

+

+  CH_IRQ_PROLOGUE();

+

+  icu_lld_serve_interrupt(&ICUD1);

+

+  CH_IRQ_EPILOGUE();

+}

+#endif /* STM32_ICU_USE_TIM1 */

+

+#if STM32_ICU_USE_TIM2

+/**

+ * @brief   TIM2 compare interrupt handler.

+ * @note    It is assumed that the various sources are only activated if the

+ *          associated callback pointer is not equal to @p NULL in order to not

+ *          perform an extra check in a potentially critical interrupt handler.

  *

  * @isr

  */

-CH_IRQ_HANDLER(TIM1_UP_IRQHandler) {

+CH_IRQ_HANDLER(TIM2_IRQHandler) {

 

   CH_IRQ_PROLOGUE();

 

-  TIM1->SR = ~TIM_SR_UIF;

-  ICUD1.config->callback(&ICUD1);

+  icu_lld_serve_interrupt(&ICUD2);

 

   CH_IRQ_EPILOGUE();

 }

+#endif /* STM32_ICU_USE_TIM2 */

 

+#if STM32_ICU_USE_TIM3

 /**

- * @brief   TIM1 compare interrupt handler.

+ * @brief   TIM3 compare interrupt handler.

  * @note    It is assumed that the various sources are only activated if the

  *          associated callback pointer is not equal to @p NULL in order to not

  *          perform an extra check in a potentially critical interrupt handler.

  *

  * @isr

  */

-CH_IRQ_HANDLER(TIM1_CC_IRQHandler) {

-  uint16_t sr;

+CH_IRQ_HANDLER(TIM3_IRQHandler) {

 

   CH_IRQ_PROLOGUE();

 

-  sr = TIM1->SR & TIM1->DIER;

-  TIM1->SR = ~(TIM_SR_CC1IF | TIM_SR_CC2IF | TIM_SR_CC3IF | TIM_SR_CC4IF);

-  if ((sr & TIM_SR_CC1IF) != 0)

-    ICUD1.config->channels[0].callback(&ICUD1);

-  if ((sr & TIM_SR_CC2IF) != 0)

-    ICUD1.config->channels[1].callback(&ICUD1);

+  icu_lld_serve_interrupt(&ICUD3);

 

   CH_IRQ_EPILOGUE();

 }

-#endif /* STM32_ICU_USE_TIM1 */

+#endif /* STM32_ICU_USE_TIM3 */

+

+#if STM32_ICU_USE_TIM4

+/**

+ * @brief   TIM4 compare interrupt handler.

+ * @note    It is assumed that the various sources are only activated if the

+ *          associated callback pointer is not equal to @p NULL in order to not

+ *          perform an extra check in a potentially critical interrupt handler.

+ *

+ * @isr

+ */

+CH_IRQ_HANDLER(TIM4_IRQHandler) {

+

+  CH_IRQ_PROLOGUE();

+

+  icu_lld_serve_interrupt(&ICUD4);

+

+  CH_IRQ_EPILOGUE();

+}

+#endif /* STM32_ICU_USE_TIM4 */

+

+#if STM32_ICU_USE_TIM5

+/**

+ * @brief   TIM5 compare interrupt handler.

+ * @note    It is assumed that the various sources are only activated if the

+ *          associated callback pointer is not equal to @p NULL in order to not

+ *          perform an extra check in a potentially critical interrupt handler.

+ *

+ * @isr

+ */

+CH_IRQ_HANDLER(TIM5_IRQHandler) {

+

+  CH_IRQ_PROLOGUE();

+

+  icu_lld_serve_interrupt(&ICUD5);

+

+  CH_IRQ_EPILOGUE();

+}

+#endif /* STM32_ICU_USE_TIM5 */

 

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

 /* Driver exported functions.                                                */

@@ -114,6 +214,30 @@ void icu_lld_init(void) {
   icuObjectInit(&ICUD1);

   ICUD1.tim = TIM1;

 #endif

+

+#if STM32_ICU_USE_TIM2

+  /* Driver initialization.*/

+  icuObjectInit(&ICUD2);

+  ICUD2.tim = TIM2;

+#endif

+

+#if STM32_ICU_USE_TIM3

+  /* Driver initialization.*/

+  icuObjectInit(&ICUD3);

+  ICUD3.tim = TIM3;

+#endif

+

+#if STM32_ICU_USE_TIM4

+  /* Driver initialization.*/

+  icuObjectInit(&ICUD4);

+  ICUD4.tim = TIM4;

+#endif

+

+#if STM32_ICU_USE_TIM5

+  /* Driver initialization.*/

+  icuObjectInit(&ICUD5);

+  ICUD5.tim = TIM5;

+#endif

 }

 

 /**

@@ -132,12 +256,47 @@ void icu_lld_start(ICUDriver *icup) {
       RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;

       RCC->APB2RSTR = RCC_APB2RSTR_TIM1RST;

       RCC->APB2RSTR = 0;

-      NVICEnableVector(TIM1_UP_IRQn,

-                       CORTEX_PRIORITY_MASK(STM32_ICU_TIM1_IRQ_PRIORITY));

       NVICEnableVector(TIM1_CC_IRQn,

                        CORTEX_PRIORITY_MASK(STM32_ICU_TIM1_IRQ_PRIORITY));

     }

 #endif

+#if STM32_ICU_USE_TIM2

+    if (&ICUD2 == icup) {

+      RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;

+      RCC->APB1RSTR = RCC_APB1RSTR_TIM2RST;

+      RCC->APB1RSTR = 0;

+      NVICEnableVector(TIM2_IRQn,

+                       CORTEX_PRIORITY_MASK(STM32_ICU_TIM2_IRQ_PRIORITY));

+    }

+#endif

+#if STM32_ICU_USE_TIM3

+    if (&ICUD3 == icup) {

+      RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;

+      RCC->APB1RSTR = RCC_APB1RSTR_TIM3RST;

+      RCC->APB1RSTR = 0;

+      NVICEnableVector(TIM3_IRQn,

+                       CORTEX_PRIORITY_MASK(STM32_ICU_TIM3_IRQ_PRIORITY));

+    }

+#endif

+#if STM32_ICU_USE_TIM4

+    if (&ICUD4 == icup) {

+      RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;

+      RCC->APB1RSTR = RCC_APB1RSTR_TIM4RST;

+      RCC->APB1RSTR = 0;

+      NVICEnableVector(TIM4_IRQn,

+                       CORTEX_PRIORITY_MASK(STM32_ICU_TIM4_IRQ_PRIORITY));

+    }

+#endif

+

+#if STM32_ICU_USE_TIM5

+    if (&ICUD5 == icup) {

+      RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;

+      RCC->APB1RSTR = RCC_APB1RSTR_TIM5RST;

+      RCC->APB1RSTR = 0;

+      NVICEnableVector(TIM5_IRQn,

+                       CORTEX_PRIORITY_MASK(STM32_ICU_TIM5_IRQ_PRIORITY));

+    }

+#endif

   }

 

   /* Timer configuration, PWM input mode.*/

@@ -153,7 +312,7 @@ void icu_lld_start(ICUDriver *icup) {
   /* SMCR_TS  = 101, input is TI1FP1.

      SMCR_SMS = 100, reset on rising edge.*/

   icup->tim->SMCR  = TIM_SMCR_TS_2 | TIM_SMCR_TS_0 |

-                     TIM_SMCR_SMS_2.

+                     TIM_SMCR_SMS_2;

   /* The CCER settings depend on the selected trigger mode.

      ICU_INPUT_ACTIVE_HIGH: Active on rising edge, idle on falling edge.

      ICU_INPUT_ACTIVE_LOW:  Active on falling edge, idle on rising edge.*/

@@ -161,7 +320,7 @@ void icu_lld_start(ICUDriver *icup) {
     icup->tim->CCER = TIM_CCER_CC1E |

                       TIM_CCER_CC2E | TIM_CCER_CC2P;

   else

-    icup->tim->CCER = TIM_CCER_CC1E | TIM_CCER_CC1P

+    icup->tim->CCER = TIM_CCER_CC1E | TIM_CCER_CC1P |

                       TIM_CCER_CC2E;

 }

 

@@ -181,11 +340,35 @@ void icu_lld_stop(ICUDriver *icup) {
 

 #if STM32_ICU_USE_TIM1

     if (&ICUD1 == icup) {

-      NVICDisableVector(TIM1_UP_IRQn);

+      NVICDisableVector(TIM1_CC_IRQn);

       RCC->APB2ENR &= ~RCC_APB2ENR_TIM1EN;

     }

 #endif

   }

+#if STM32_ICU_USE_TIM2

+    if (&ICUD2 == icup) {

+      NVICDisableVector(TIM2_IRQn);

+      RCC->APB1ENR &= ~RCC_APB1ENR_TIM2EN;

+    }

+#endif

+#if STM32_ICU_USE_TIM3

+    if (&ICUD3 == icup) {

+      NVICDisableVector(TIM3_IRQn);

+      RCC->APB1ENR &= ~RCC_APB1ENR_TIM3EN;

+    }

+#endif

+#if STM32_ICU_USE_TIM4

+    if (&ICUD4 == icup) {

+      NVICDisableVector(TIM4_IRQn);

+      RCC->APB1ENR &= ~RCC_APB1ENR_TIM4EN;

+    }

+#endif

+#if STM32_ICU_USE_TIM5

+    if (&ICUD5 == icup) {

+      NVICDisableVector(TIM5_IRQn);

+      RCC->APB1ENR &= ~RCC_APB1ENR_TIM5EN;

+    }

+#endif

 }

 

 /**

@@ -198,7 +381,10 @@ void icu_lld_stop(ICUDriver *icup) {
 void icu_lld_enable(ICUDriver *icup) {

 

   icup->tim->SR   = 0;                      /* Clear pending IRQs (if any). */

-  icup->tim->DIER = TIM_DIER_CC1IE | TIM_DIER_CC2IE;

+  if (icup->config->period_cb != NULL)

+    icup->tim->DIER |= TIM_DIER_CC1IE;

+  if (icup->config->width_cb != NULL)

+    icup->tim->DIER |= TIM_DIER_CC2IE;

   icup->tim->CR1  = TIM_CR1_URS | TIM_CR1_CEN;

 }

 

diff --git a/os/hal/platforms/STM32/icu_lld.h b/os/hal/platforms/STM32/icu_lld.h
index 78efa9765..758b9c352 100644
--- a/os/hal/platforms/STM32/icu_lld.h
+++ b/os/hal/platforms/STM32/icu_lld.h
@@ -48,6 +48,77 @@
 #define STM32_ICU_USE_TIM1                  TRUE

 #endif

 

+/**

+ * @brief   ICUD2 driver enable switch.

+ * @details If set to @p TRUE the support for ICUD2 is included.

+ * @note    The default is @p TRUE.

+ */

+#if !defined(STM32_ICU_USE_TIM2) || defined(__DOXYGEN__)

+#define STM32_ICU_USE_TIM2                  TRUE

+#endif

+

+/**

+ * @brief   ICUD3 driver enable switch.

+ * @details If set to @p TRUE the support for ICUD3 is included.

+ * @note    The default is @p TRUE.

+ */

+#if !defined(STM32_ICU_USE_TIM3) || defined(__DOXYGEN__)

+#define STM32_ICU_USE_TIM3                  TRUE

+#endif

+

+/**

+ * @brief   ICUD4 driver enable switch.

+ * @details If set to @p TRUE the support for ICUD4 is included.

+ * @note    The default is @p TRUE.

+ */

+#if !defined(STM32_ICU_USE_TIM4) || defined(__DOXYGEN__)

+#define STM32_ICU_USE_TIM4                  TRUE

+#endif

+

+/**

+ * @brief   ICUD5 driver enable switch.

+ * @details If set to @p TRUE the support for ICUD5 is included.

+ * @note    The default is @p TRUE.

+ */

+#if !defined(STM32_ICU_USE_TIM5) || defined(__DOXYGEN__)

+#define STM32_ICU_USE_TIM5                  TRUE

+#endif

+

+/**

+ * @brief   ICUD1 interrupt priority level setting.

+ */

+#if !defined(STM32_ICU_TIM1_IRQ_PRIORITY) || defined(__DOXYGEN__)

+#define STM32_ICU_TIM1_IRQ_PRIORITY         7

+#endif

+

+/**

+ * @brief   ICUD2 interrupt priority level setting.

+ */

+#if !defined(STM32_ICU_TIM2_IRQ_PRIORITY) || defined(__DOXYGEN__)

+#define STM32_ICU_TIM2_IRQ_PRIORITY         7

+#endif

+

+/**

+ * @brief   ICUD3 interrupt priority level setting.

+ */

+#if !defined(STM32_ICU_TIM3_IRQ_PRIORITY) || defined(__DOXYGEN__)

+#define STM32_ICU_TIM3_IRQ_PRIORITY         7

+#endif

+

+/**

+ * @brief   ICUD4 interrupt priority level setting.

+ */

+#if !defined(STM32_ICU_TIM4_IRQ_PRIORITY) || defined(__DOXYGEN__)

+#define STM32_ICU_TIM4_IRQ_PRIORITY         7

+#endif

+

+/**

+ * @brief   ICUD5 interrupt priority level setting.

+ */

+#if !defined(STM32_ICU_TIM5_IRQ_PRIORITY) || defined(__DOXYGEN__)

+#define STM32_ICU_TIM5_IRQ_PRIORITY         7

+#endif

+

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

 /* Derived constants and error checks.                                       */

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

@@ -143,6 +214,9 @@ struct ICUDriver {
    * @brief Current configuration data.

    */

   const ICUConfig           *config;

+#if defined(ICU_DRIVER_EXT_FIELDS)

+  ICU_DRIVER_EXT_FIELDS

+#endif

   /* End of the mandatory fields.*/

   /**

    * @brief Pointer to the TIMx registers block.

@@ -209,6 +283,22 @@ struct ICUDriver {
 extern ICUDriver ICUD1;

 #endif

 

+#if STM32_ICU_USE_TIM2 && !defined(__DOXYGEN__)

+extern ICUDriver ICUD2;

+#endif

+

+#if STM32_ICU_USE_TIM3 && !defined(__DOXYGEN__)

+extern ICUDriver ICUD3;

+#endif

+

+#if STM32_ICU_USE_TIM4 && !defined(__DOXYGEN__)

+extern ICUDriver ICUD4;

+#endif

+

+#if STM32_ICU_USE_TIM5 && !defined(__DOXYGEN__)

+extern ICUDriver ICUD5;

+#endif

+

 #ifdef __cplusplus

 extern "C" {

 #endif

@@ -217,8 +307,6 @@ extern "C" {
   void icu_lld_stop(ICUDriver *icup);

   void icu_lld_enable(ICUDriver *icup);

   void icu_lld_disable(ICUDriver *icup);

-  icucnt_t icu_lld_get_width(ICUDriver *icup);

-  icucnt_t icu_lld_get_period(ICUDriver *icup);

 #ifdef __cplusplus

 }

 #endif

diff --git a/os/hal/platforms/STM32/platform.mk b/os/hal/platforms/STM32/platform.mk
index 469b85c79..48e19ace6 100644
--- a/os/hal/platforms/STM32/platform.mk
+++ b/os/hal/platforms/STM32/platform.mk
@@ -3,6 +3,7 @@ PLATFORMSRC = ${CHIBIOS}/os/hal/platforms/STM32/hal_lld.c \
               ${CHIBIOS}/os/hal/platforms/STM32/adc_lld.c \

               ${CHIBIOS}/os/hal/platforms/STM32/can_lld.c \

               ${CHIBIOS}/os/hal/platforms/STM32/gpt_lld.c \

+              ${CHIBIOS}/os/hal/platforms/STM32/icu_lld.c \

               ${CHIBIOS}/os/hal/platforms/STM32/pal_lld.c \

               ${CHIBIOS}/os/hal/platforms/STM32/pwm_lld.c \

               ${CHIBIOS}/os/hal/platforms/STM32/serial_lld.c \

diff --git a/os/hal/platforms/STM32/pwm_lld.c b/os/hal/platforms/STM32/pwm_lld.c
index ac41edbfd..eaf83bd90 100644
--- a/os/hal/platforms/STM32/pwm_lld.c
+++ b/os/hal/platforms/STM32/pwm_lld.c
@@ -48,40 +48,40 @@
 /*===========================================================================*/

 

 /**

- * @brief   PWM1 driver identifier.

- * @note    The driver PWM1 allocates the complex timer TIM1 when enabled.

+ * @brief   PWMD1 driver identifier.

+ * @note    The driver PWMD1 allocates the complex timer TIM1 when enabled.

  */

 #if STM32_PWM_USE_TIM1 || defined(__DOXYGEN__)

 PWMDriver PWMD1;

 #endif

 

 /**

- * @brief   PWM2 driver identifier.

- * @note    The driver PWM2 allocates the timer TIM2 when enabled.

+ * @brief   PWMD2 driver identifier.

+ * @note    The driver PWMD2 allocates the timer TIM2 when enabled.

  */

 #if STM32_PWM_USE_TIM2 || defined(__DOXYGEN__)

 PWMDriver PWMD2;

 #endif

 

 /**

- * @brief   PWM3 driver identifier.

- * @note    The driver PWM3 allocates the timer TIM3 when enabled.

+ * @brief   PWMD3 driver identifier.

+ * @note    The driver PWMD3 allocates the timer TIM3 when enabled.

  */

 #if STM32_PWM_USE_TIM3 || defined(__DOXYGEN__)

 PWMDriver PWMD3;

 #endif

 

 /**

- * @brief   PWM4 driver identifier.

- * @note    The driver PWM4 allocates the timer TIM4 when enabled.

+ * @brief   PWMD4 driver identifier.

+ * @note    The driver PWMD4 allocates the timer TIM4 when enabled.

  */

 #if STM32_PWM_USE_TIM4 || defined(__DOXYGEN__)

 PWMDriver PWMD4;

 #endif

 

 /**

- * @brief   PWM5 driver identifier.

- * @note    The driver PWM5 allocates the timer TIM5 when enabled.

+ * @brief   PWMD5 driver identifier.

+ * @note    The driver PWMD5 allocates the timer TIM5 when enabled.

  */

 #if STM32_PWM_USE_TIM5 || defined(__DOXYGEN__)

 PWMDriver PWMD5;

diff --git a/os/hal/platforms/STM32/pwm_lld.h b/os/hal/platforms/STM32/pwm_lld.h
index 9e251eb78..8c15a3c6f 100644
--- a/os/hal/platforms/STM32/pwm_lld.h
+++ b/os/hal/platforms/STM32/pwm_lld.h
@@ -45,8 +45,8 @@
 /*===========================================================================*/

 

 /**

- * @brief   PWM1 driver enable switch.

- * @details If set to @p TRUE the support for PWM1 is included.

+ * @brief   PWMD1 driver enable switch.

+ * @details If set to @p TRUE the support for PWMD1 is included.

  * @note    The default is @p TRUE.

  */

 #if !defined(STM32_PWM_USE_TIM1) || defined(__DOXYGEN__)

@@ -54,8 +54,8 @@
 #endif

 

 /**

- * @brief   PWM2 driver enable switch.

- * @details If set to @p TRUE the support for PWM2 is included.

+ * @brief   PWMD2 driver enable switch.

+ * @details If set to @p TRUE the support for PWMD2 is included.

  * @note    The default is @p TRUE.

  */

 #if !defined(STM32_PWM_USE_TIM2) || defined(__DOXYGEN__)

@@ -63,8 +63,8 @@
 #endif

 

 /**

- * @brief   PWM3 driver enable switch.

- * @details If set to @p TRUE the support for PWM3 is included.

+ * @brief   PWMD3 driver enable switch.

+ * @details If set to @p TRUE the support for PWMD3 is included.

  * @note    The default is @p TRUE.

  */

 #if !defined(STM32_PWM_USE_TIM3) || defined(__DOXYGEN__)

@@ -72,8 +72,8 @@
 #endif

 

 /**

- * @brief   PWM4 driver enable switch.

- * @details If set to @p TRUE the support for PWM4 is included.

+ * @brief   PWMD4 driver enable switch.

+ * @details If set to @p TRUE the support for PWMD4 is included.

  * @note    The default is @p TRUE.

  */

 #if !defined(STM32_PWM_USE_TIM4) || defined(__DOXYGEN__)

@@ -81,8 +81,8 @@
 #endif

 

 /**

- * @brief   PWM5 driver enable switch.

- * @details If set to @p TRUE the support for PWM5 is included.

+ * @brief   PWMD5 driver enable switch.

+ * @details If set to @p TRUE the support for PWMD5 is included.

  * @note    The default is @p TRUE.

  */

 #if !defined(STM32_PWM_USE_TIM5) || defined(__DOXYGEN__)

@@ -90,35 +90,35 @@
 #endif

 

 /**

- * @brief   PWM1 interrupt priority level setting.

+ * @brief   PWMD1 interrupt priority level setting.

  */

 #if !defined(STM32_PWM_TIM1_IRQ_PRIORITY) || defined(__DOXYGEN__)

 #define STM32_PWM_TIM1_IRQ_PRIORITY         7

 #endif

 

 /**

- * @brief   PWM2 interrupt priority level setting.

+ * @brief   PWMD2 interrupt priority level setting.

  */

 #if !defined(STM32_PWM_TIM2_IRQ_PRIORITY) || defined(__DOXYGEN__)

 #define STM32_PWM_TIM2_IRQ_PRIORITY         7

 #endif

 

 /**

- * @brief   PWM3 interrupt priority level setting.

+ * @brief   PWMD3 interrupt priority level setting.

  */

 #if !defined(STM32_PWM_TIM3_IRQ_PRIORITY) || defined(__DOXYGEN__)

 #define STM32_PWM_TIM3_IRQ_PRIORITY         7

 #endif

 

 /**

- * @brief   PWM4 interrupt priority level setting.

+ * @brief   PWMD4 interrupt priority level setting.

  */

 #if !defined(STM32_PWM_TIM4_IRQ_PRIORITY) || defined(__DOXYGEN__)

 #define STM32_PWM_TIM4_IRQ_PRIORITY         7

 #endif

 

 /**

- * @brief   PWM5 interrupt priority level setting.

+ * @brief   PWMD5 interrupt priority level setting.

  */

 #if !defined(STM32_PWM_TIM5_IRQ_PRIORITY) || defined(__DOXYGEN__)

 #define STM32_PWM_TIM5_IRQ_PRIORITY         7

diff --git a/os/hal/platforms/STM32/usb_lld.h b/os/hal/platforms/STM32/usb_lld.h
index 8cbbc8d6e..9b5e9dad2 100644
--- a/os/hal/platforms/STM32/usb_lld.h
+++ b/os/hal/platforms/STM32/usb_lld.h
@@ -290,6 +290,9 @@ struct USBDriver {
    * @brief   Current USB device configuration.

    */

   uint8_t                       configuration;

+#if defined(USB_DRIVER_EXT_FIELDS)

+  USB_DRIVER_EXT_FIELDS

+#endif

   /* End of the mandatory fields.*/

   /**

    * @brief   Pointer to the next address in the packet memory.

diff --git a/os/hal/templates/gpt_lld.h b/os/hal/templates/gpt_lld.h
index fa1e7e478..4053c9b7a 100644
--- a/os/hal/templates/gpt_lld.h
+++ b/os/hal/templates/gpt_lld.h
@@ -100,6 +100,9 @@ struct GPTDriver {
    * @brief Current configuration data.

    */

   const GPTConfig           *config;

+#if defined(GPT_DRIVER_EXT_FIELDS)

+  GPT_DRIVER_EXT_FIELDS

+#endif

   /* End of the mandatory fields.*/

 };

 

diff --git a/os/hal/templates/icu_lld.h b/os/hal/templates/icu_lld.h
index b0debb2b9..68ec93df6 100644
--- a/os/hal/templates/icu_lld.h
+++ b/os/hal/templates/icu_lld.h
@@ -104,6 +104,9 @@ struct ICUDriver {
    * @brief Current configuration data.

    */

   const ICUConfig           *config;

+#if defined(ICU_DRIVER_EXT_FIELDS)

+  ICU_DRIVER_EXT_FIELDS

+#endif

   /* End of the mandatory fields.*/

 };

 

diff --git a/os/hal/templates/usb_lld.h b/os/hal/templates/usb_lld.h
index 225f3ab9f..5a41c1c05 100644
--- a/os/hal/templates/usb_lld.h
+++ b/os/hal/templates/usb_lld.h
@@ -212,6 +212,9 @@ struct USBDriver {
    * @brief   Current USB device configuration.

    */

   uint8_t                       configuration;

+#if defined(USB_DRIVER_EXT_FIELDS)

+  USB_DRIVER_EXT_FIELDS

+#endif

   /* End of the mandatory fields.*/

 };

 

diff --git a/os/kernel/include/chdebug.h b/os/kernel/include/chdebug.h
index 5d6b455fe..471da5532 100644
--- a/os/kernel/include/chdebug.h
+++ b/os/kernel/include/chdebug.h
@@ -151,7 +151,7 @@ extern "C" {
 #endif

 #if CH_DBG_ENABLE_TRACE || defined(__DOXYGEN__)

   extern TraceBuffer trace_buffer;

-  void trace_init(void);

+  void _trace_init(void);

   void chDbgTrace(Thread *otp);

 #endif

 #if CH_DBG_ENABLE_ASSERTS || CH_DBG_ENABLE_CHECKS || CH_DBG_ENABLE_STACK_CHECK

diff --git a/os/kernel/include/chheap.h b/os/kernel/include/chheap.h
index ed5fa252a..eb642cd18 100644
--- a/os/kernel/include/chheap.h
+++ b/os/kernel/include/chheap.h
@@ -75,7 +75,7 @@ struct memory_heap {
 #ifdef __cplusplus

 extern "C" {

 #endif

-  void heap_init(void);

+  void _heap_init(void);

   void chHeapInit(MemoryHeap *heapp, void *buf, size_t size);

   void *chHeapAlloc(MemoryHeap *heapp, size_t size);

   void chHeapFree(void *p);

diff --git a/os/kernel/include/chmemcore.h b/os/kernel/include/chmemcore.h
index bc0654a6d..cf608c4e8 100644
--- a/os/kernel/include/chmemcore.h
+++ b/os/kernel/include/chmemcore.h
@@ -67,7 +67,7 @@ typedef void *(*memgetfunc_t)(size_t size);
 #ifdef __cplusplus

 extern "C" {

 #endif

-  void core_init(void);

+  void _core_init(void);

   void *chCoreAlloc(size_t size);

   void *chCoreAllocI(size_t size);

   size_t chCoreStatus(void);

diff --git a/os/kernel/include/chschd.h b/os/kernel/include/chschd.h
index 5dda6d00a..1cd8e0664 100644
--- a/os/kernel/include/chschd.h
+++ b/os/kernel/include/chschd.h
@@ -127,7 +127,7 @@ register Thread *currp asm(CH_CURRP_REGISTER_CACHE);
 #ifdef __cplusplus

 extern "C" {

 #endif

-  void scheduler_init(void);

+  void _scheduler_init(void);

 #if !defined(PORT_OPTIMIZED_READYI)

   Thread *chSchReadyI(Thread *tp);

 #endif

diff --git a/os/kernel/include/chvt.h b/os/kernel/include/chvt.h
index 9203b974d..e75e966d5 100644
--- a/os/kernel/include/chvt.h
+++ b/os/kernel/include/chvt.h
@@ -121,7 +121,7 @@ extern VTList vtlist;
 #ifdef __cplusplus

 extern "C" {

 #endif

-  void vt_init(void);

+  void _vt_init(void);

   void chVTSetI(VirtualTimer *vtp, systime_t time, vtfunc_t vtfunc, void *par);

   void chVTResetI(VirtualTimer *vtp);

   bool_t chTimeIsWithin(systime_t start, systime_t end);

diff --git a/os/kernel/src/chdebug.c b/os/kernel/src/chdebug.c
index be98cd40b..3c3c34c70 100644
--- a/os/kernel/src/chdebug.c
+++ b/os/kernel/src/chdebug.c
@@ -46,7 +46,7 @@ TraceBuffer trace_buffer;
  * @brief   Trace circular buffer subsystem initialization.

  * @note    Internal use only.

  */

-void trace_init(void) {

+void _trace_init(void) {

 

   trace_buffer.tb_size = TRACE_BUFFER_SIZE;

   trace_buffer.tb_ptr = &trace_buffer.tb_buffer[0];

diff --git a/os/kernel/src/chheap.c b/os/kernel/src/chheap.c
index a04646bcf..bcfca9b77 100644
--- a/os/kernel/src/chheap.c
+++ b/os/kernel/src/chheap.c
@@ -65,7 +65,7 @@ static MemoryHeap default_heap;
  *

  * @notapi

  */

-void heap_init(void) {

+void _heap_init(void) {

   default_heap.h_provider = chCoreAlloc;

   default_heap.h_free.h.u.next = (union heap_header *)NULL;

   default_heap.h_free.h.size = 0;

diff --git a/os/kernel/src/chmemcore.c b/os/kernel/src/chmemcore.c
index d66ef5f1c..311d170c5 100644
--- a/os/kernel/src/chmemcore.c
+++ b/os/kernel/src/chmemcore.c
@@ -56,7 +56,7 @@ static uint8_t *endmem;
  *

  * @notapi

  */

-void core_init(void) {

+void _core_init(void) {

 #if CH_MEMCORE_SIZE == 0

   extern uint8_t __heap_base__[];

   extern uint8_t __heap_end__[];

diff --git a/os/kernel/src/chschd.c b/os/kernel/src/chschd.c
index 210dbfdc1..54e7918b1 100644
--- a/os/kernel/src/chschd.c
+++ b/os/kernel/src/chschd.c
@@ -45,7 +45,7 @@ ReadyList rlist;
  *

  * @notapi

  */

-void scheduler_init(void) {

+void _scheduler_init(void) {

 

   queue_init(&rlist.r_queue);

   rlist.r_prio = NOPRIO;

diff --git a/os/kernel/src/chsys.c b/os/kernel/src/chsys.c
index db6521b87..29f4bdc7e 100644
--- a/os/kernel/src/chsys.c
+++ b/os/kernel/src/chsys.c
@@ -76,16 +76,16 @@ void chSysInit(void) {
   static Thread mainthread;

 

   port_init();

-  scheduler_init();

-  vt_init();

+  _scheduler_init();

+  _vt_init();

 #if CH_USE_MEMCORE

-  core_init();

+  _core_init();

 #endif

 #if CH_USE_HEAP

-  heap_init();

+  _heap_init();

 #endif

 #if CH_DBG_ENABLE_TRACE

-  trace_init();

+  _trace_init();

 #endif

 

   /* Now this instructions flow becomes the main thread.*/

diff --git a/os/kernel/src/chvt.c b/os/kernel/src/chvt.c
index b98396a3a..4674c728e 100644
--- a/os/kernel/src/chvt.c
+++ b/os/kernel/src/chvt.c
@@ -40,7 +40,7 @@ VTList vtlist;
  *

  * @notapi

  */

-void vt_init(void) {

+void _vt_init(void) {

 

   vtlist.vt_next = vtlist.vt_prev = (void *)&vtlist;

   vtlist.vt_time = (systime_t)-1;

diff --git a/readme.txt b/readme.txt
index 8cfda4619..ddc7c35f1 100644
--- a/readme.txt
+++ b/readme.txt
@@ -95,10 +95,10 @@
   as default.

 - CHANGE: Removed all the prefixes from the structure/union field names

   in the HAL subsystem.

-- CHANGE: Updated the documentation to use Doxygen 1.7.3 which produces a much

+- CHANGE: Updated the documentation to use Doxygen 1.7.4 which produces a much

   more readable output. Also modified the documentation layout to put functions

   and variables ahead of everything else in the group pages.

-  Doxygen version below 1.7.3 cannot be used anymore because differences in

+  Doxygen version below 1.7.4 cannot be used anymore because differences in

   templates. Note that now there are two Doxygen projects, one for generating

   the CHM file the other for plain HTML.

 

diff --git a/testhal/STM32/PWM/halconf.h b/testhal/STM32/PWM/halconf.h
index 437770851..8d87b73cb 100644
--- a/testhal/STM32/PWM/halconf.h
+++ b/testhal/STM32/PWM/halconf.h
@@ -70,6 +70,13 @@
 #endif

 

 /**

+ * @brief   Enables the I2C subsystem.

+ */

+#if !defined(HAL_USE_ICU) || defined(__DOXYGEN__)

+#define HAL_USE_ICU                 TRUE

+#endif

+

+/**

  * @brief   Enables the MAC subsystem.

  */

 #if !defined(HAL_USE_MAC) || defined(__DOXYGEN__)

diff --git a/testhal/STM32/PWM/mcuconf.h b/testhal/STM32/PWM/mcuconf.h
index 2f50634ce..17929817f 100644
--- a/testhal/STM32/PWM/mcuconf.h
+++ b/testhal/STM32/PWM/mcuconf.h
@@ -75,6 +75,20 @@
 #define STM32_GPT_TIM5_IRQ_PRIORITY         7

 

 /*

+ * ICU driver system settings.

+ */

+#define STM32_ICU_USE_TIM1                  FALSE

+#define STM32_ICU_USE_TIM2                  TRUE

+#define STM32_ICU_USE_TIM3                  FALSE

+#define STM32_ICU_USE_TIM4                  FALSE

+#define STM32_ICU_USE_TIM5                  FALSE

+#define STM32_ICU_TIM1_IRQ_PRIORITY         7

+#define STM32_ICU_TIM2_IRQ_PRIORITY         7

+#define STM32_ICU_TIM3_IRQ_PRIORITY         7

+#define STM32_ICU_TIM4_IRQ_PRIORITY         7

+#define STM32_ICU_TIM5_IRQ_PRIORITY         7

+

+/*

  * PWM driver system settings.

  */

 #define STM32_PWM_USE_TIM1                  TRUE

diff --git a/todo.txt b/todo.txt
index 4931ceed7..294c33498 100644
--- a/todo.txt
+++ b/todo.txt
@@ -18,7 +18,7 @@ Within 2.3.x (hopefully)
 * Swap TIME_IMMEDIATE and TIME_INFINITE values.

 * Improvements to the message passing mechanism in order to allow "delayed,

   out of order, responses".

-* New device driver models: GPT.

+* New device driver models: GPT, ICU.

 X GPT implementation and long duration "IRQ storm" stress test applications

   for all the supported critical platforms.

 - Add UART4 support to the STM32 UART driver (CL line only, HD has a nasty

@@ -40,7 +40,7 @@ X File System infrastructure.
 X Transactional flash file system implementation.

 X I2C device driver class support and at least one implementation.

 X Shared DMA channels support in the STM32/STM8L HALs.

-X RAM ISR vectors support in the STM32 HAL.

+? RAM ISR vectors support in the STM32 HAL.

 - New device driver models: Clock, Systick, RTC, WDG, DAC, Power Monitor.

 

 Later but within 2.x.x