diff --git a/os/halnew/include/hal.h b/os/halnew/include/hal.h
index 57fa14109..9251afacb 100644
--- a/os/halnew/include/hal.h
+++ b/os/halnew/include/hal.h
@@ -30,6 +30,7 @@
#define _HAL_H_
#include "osal.h"
+#include "st.h"
#include "board.h"
#include "halconf.h"
@@ -38,14 +39,13 @@
/* Abstract interfaces.*/
#include "hal_streams.h"
#include "hal_channels.h"
-#include "hal_queues.h"
-
-/* Shared headers.*/
//#include "io_block.h"
//#include "mmcsd.h"
+/* Shared headers.*/
+#include "hal_queues.h"
+
/* Normal drivers.*/
-//#include "tm.h"
#include "pal.h"
#include "adc.h"
#include "can.h"
@@ -86,113 +86,6 @@
/* Driver macros. */
/*===========================================================================*/
-#if HAL_IMPLEMENTS_COUNTERS || defined(__DOXYGEN__)
-/**
- * @name Time conversion utilities for the realtime counter
- * @{
- */
-/**
- * @brief Seconds to realtime ticks.
- * @details Converts from seconds to realtime ticks number.
- * @note The result is rounded upward to the next tick boundary.
- *
- * @param[in] sec number of seconds
- * @return The number of ticks.
- *
- * @api
- */
-#define S2RTT(sec) (halGetCounterFrequency() * (sec))
-
-/**
- * @brief Milliseconds to realtime ticks.
- * @details Converts from milliseconds to realtime ticks number.
- * @note The result is rounded upward to the next tick boundary.
- *
- * @param[in] msec number of milliseconds
- * @return The number of ticks.
- *
- * @api
- */
-#define MS2RTT(msec) (((halGetCounterFrequency() + 999UL) / 1000UL) * (msec))
-
-/**
- * @brief Microseconds to realtime ticks.
- * @details Converts from microseconds to realtime ticks number.
- * @note The result is rounded upward to the next tick boundary.
- *
- * @param[in] usec number of microseconds
- * @return The number of ticks.
- *
- * @api
- */
-#define US2RTT(usec) (((halGetCounterFrequency() + 999999UL) / 1000000UL) * \
- (usec))
-
-/**
- * @brief Realtime ticks to seconds to.
- * @details Converts from realtime ticks number to seconds.
- *
- * @param[in] ticks number of ticks
- * @return The number of seconds.
- *
- * @api
- */
-#define RTT2S(ticks) ((ticks) / halGetCounterFrequency())
-
-/**
- * @brief Realtime ticks to milliseconds.
- * @details Converts from realtime ticks number to milliseconds.
- *
- * @param[in] ticks number of ticks
- * @return The number of milliseconds.
- *
- * @api
- */
-#define RTT2MS(ticks) ((ticks) / (halGetCounterFrequency() / 1000UL))
-
-/**
- * @brief Realtime ticks to microseconds.
- * @details Converts from realtime ticks number to microseconds.
- *
- * @param[in] ticks number of ticks
- * @return The number of microseconds.
- *
- * @api
- */
-#define RTT2US(ticks) ((ticks) / (halGetCounterFrequency() / 1000000UL))
-/** @} */
-
-/**
- * @name Macro Functions
- * @{
- */
-/**
- * @brief Returns the current value of the system free running counter.
- * @note This is an optional service that could not be implemented in
- * all HAL implementations.
- * @note This function can be called from any context.
- *
- * @return The value of the system free running counter of
- * type halrtcnt_t.
- *
- * @special
- */
-#define halGetCounterValue() hal_lld_get_counter_value()
-
-/**
- * @brief Realtime counter frequency.
- * @note This is an optional service that could not be implemented in
- * all HAL implementations.
- * @note This function can be called from any context.
- *
- * @return The realtime counter frequency of type halclock_t.
- *
- * @special
- */
-#define halGetCounterFrequency() hal_lld_get_counter_frequency()
-/** @} */
-#endif /* HAL_IMPLEMENTS_COUNTERS */
-
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
@@ -201,10 +94,6 @@
extern "C" {
#endif
void halInit(void);
-#if HAL_IMPLEMENTS_COUNTERS
- bool_t halIsCounterWithin(halrtcnt_t start, halrtcnt_t end);
- void halPolledDelay(halrtcnt_t ticks);
-#endif /* HAL_IMPLEMENTS_COUNTERS */
#ifdef __cplusplus
}
#endif
diff --git a/os/halnew/include/st.h b/os/halnew/include/st.h
new file mode 100644
index 000000000..276ab2649
--- /dev/null
+++ b/os/halnew/include/st.h
@@ -0,0 +1,72 @@
+/*
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011,2012,2013 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
+*/
+
+/**
+ * @file st.h
+ * @brief ST Driver macros and structures.
+ *
+ * @addtogroup ST
+ * @{
+ */
+
+#ifndef _ST_H_
+#define _ST_H_
+
+#if (OSAL_ST_MODE != OSAL_ST_MODE_NONE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+#include "st_lld.h"
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void stInit(void);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* OSAL_ST_MODE != OSAL_ST_MODE_NONE */
+
+#endif /* _ST_H_ */
+
+/** @} */
diff --git a/os/halnew/platforms/STM32/st_lld.c b/os/halnew/platforms/STM32/st_lld.c
new file mode 100644
index 000000000..ed1c03c56
--- /dev/null
+++ b/os/halnew/platforms/STM32/st_lld.c
@@ -0,0 +1,126 @@
+/*
+ ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/**
+ * @file STM32/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. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* 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(SysTickVector) {
+
+ OSAL_IRQ_PROLOGUE();
+
+ osalSysLockFromISR();
+ osalOsTimerHandlerI();
+ osalSysUnlockFromISR();
+
+ OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+#if (OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING) || defined(__DOXYGEN__)
+/**
+ * @brief TIM2 interrupt handler.
+ * @details This interrupt is used for system tick in free running mode.
+ *
+ * @isr
+ */
+OSAL_IRQ_HANDLER(STM32_TIM2_HANDLER) {
+
+ OSAL_IRQ_PROLOGUE();
+
+ STM32_TIM2->SR = 0;
+
+ osalSysLockFromISR();
+ osalTimerHandlerI();
+ osalSysUnlockFromISR();
+
+ OSAL_IRQ_EPILOGUE();
+}
+#endif
+
+/*===========================================================================*/
+/* 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.*/
+ rccEnableTIM2(FALSE);
+ nvicEnableVector(STM32_TIM2_NUMBER, ST_TIMER_PRIORITY_MASK);
+ STM32_TIM2->PSC = STM32_TIMCLK2 / OSAL_SYSTICK_FREQUENCY - 1;
+#endif
+
+#if OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC
+ /* Periodic systick mode, the Cortex-Mx internal systick timer is used
+ in this mode.*/
+ SysTick->LOAD = STM32_HCLK / OSAL_SYSTICK_FREQUENCY - 1;
+ SysTick->VAL = 0;
+ SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk |
+ SysTick_CTRL_ENABLE_Msk |
+ SysTick_CTRL_TICKINT_Msk;
+
+ nvicSetSystemHandlerPriority(HANDLER_SYSTICK, ST_TIMER_PRIORITY_MASK);
+#endif
+}
+
+#endif /* OSAL_ST_MODE != OSAL_ST_MODE_NONE */
+
+/** @} */
diff --git a/os/halnew/platforms/STM32/st_lld.h b/os/halnew/platforms/STM32/st_lld.h
new file mode 100644
index 000000000..f9cdbb8fd
--- /dev/null
+++ b/os/halnew/platforms/STM32/st_lld.h
@@ -0,0 +1,95 @@
+/*
+ ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/**
+ * @file STM32/st_lld.h
+ * @brief ST Driver subsystem low level driver header.
+ *
+ * @addtogroup ST
+ * @{
+ */
+
+#ifndef _ST_LLD_H_
+#define _ST_LLD_H_
+
+#if (OSAL_ST_MODE != OSAL_ST_MODE_NONE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Configuration options
+ * @{
+ */
+/**
+ * @brief SysTick timer priority mask.
+ */
+#if !defined(ST_TIMER_PRIORITY_MASK) || defined(__DOXYGEN__)
+#define ST_TIMER_PRIORITY_MASK 0x80
+#endif
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+#if !(OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC) && \
+ !(OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING)
+#error "invalid OSAL_ST_MODE setting in osal.h"
+#endif
+
+#if (OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING) && !STM32_HAS_TIM2
+#error "TIM2 not present in the selected device"
+#endif
+
+#if (OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING) && !STM32_TIM2_IS_32BITS
+#error "TIM2 is not a 32 bits timer"
+#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. */
+/*===========================================================================*/
+
+#endif /* OSAL_ST_MODE != OSAL_ST_MODE_NONE */
+
+#endif /* _ST_LLD_H_ */
+
+/** @} */
diff --git a/os/halnew/platforms/STM32F30x/stm32_registry.h b/os/halnew/platforms/STM32F30x/stm32_registry.h
index f32637aa4..20d3dc62b 100644
--- a/os/halnew/platforms/STM32F30x/stm32_registry.h
+++ b/os/halnew/platforms/STM32F30x/stm32_registry.h
@@ -34,174 +34,199 @@
* @{
*/
/* ADC attributes.*/
-#define STM32_HAS_ADC1 TRUE
-#define STM32_ADC1_DMA_MSK (STM32_DMA_STREAM_ID_MSK(1, 1))
-#define STM32_ADC1_DMA_CHN 0x00000000
+#define STM32_HAS_ADC1 TRUE
+#define STM32_ADC1_DMA_MSK (STM32_DMA_STREAM_ID_MSK(1, 1))
+#define STM32_ADC1_DMA_CHN 0x00000000
-#define STM32_HAS_ADC2 TRUE
-#define STM32_ADC2_DMA_MSK (STM32_DMA_STREAM_ID_MSK(2, 1) | \
- STM32_DMA_STREAM_ID_MSK(2, 3))
-#define STM32_ADC2_DMA_CHN 0x00000000
+#define STM32_HAS_ADC2 TRUE
+#define STM32_ADC2_DMA_MSK (STM32_DMA_STREAM_ID_MSK(2, 1) | \
+ STM32_DMA_STREAM_ID_MSK(2, 3))
+#define STM32_ADC2_DMA_CHN 0x00000000
-#define STM32_HAS_ADC3 TRUE
-#define STM32_ADC3_DMA_MSK (STM32_DMA_STREAM_ID_MSK(2, 5))
-#define STM32_ADC3_DMA_CHN 0x00000000
+#define STM32_HAS_ADC3 TRUE
+#define STM32_ADC3_DMA_MSK (STM32_DMA_STREAM_ID_MSK(2, 5))
+#define STM32_ADC3_DMA_CHN 0x00000000
-#define STM32_HAS_ADC4 TRUE
-#define STM32_ADC4_DMA_MSK (STM32_DMA_STREAM_ID_MSK(2, 2) | \
- STM32_DMA_STREAM_ID_MSK(2, 4))
-#define STM32_ADC4_DMA_CHN 0x00000000
+#define STM32_HAS_ADC4 TRUE
+#define STM32_ADC4_DMA_MSK (STM32_DMA_STREAM_ID_MSK(2, 2) | \
+ STM32_DMA_STREAM_ID_MSK(2, 4))
+#define STM32_ADC4_DMA_CHN 0x00000000
-#define STM32_HAS_SDADC1 FALSE
-#define STM32_SDADC1_DMA_MSK 0
-#define STM32_SDADC1_DMA_CHN 0x00000000
-
-#define STM32_HAS_SDADC2 FALSE
-#define STM32_SDADC2_DMA_MSK 0
-#define STM32_SDADC2_DMA_CHN 0x00000000
-
-#define STM32_HAS_SDADC3 FALSE
-#define STM32_SDADC3_DMA_MSK 0
-#define STM32_SDADC3_DMA_CHN 0x00000000
+#define STM32_HAS_SDADC1 FALSE
+#define STM32_HAS_SDADC2 FALSE
+#define STM32_HAS_SDADC3 FALSE
/* CAN attributes.*/
-#define STM32_HAS_CAN1 TRUE
-#define STM32_HAS_CAN2 FALSE
-#define STM32_CAN_MAX_FILTERS 14
+#define STM32_HAS_CAN1 TRUE
+#define STM32_HAS_CAN2 FALSE
+#define STM32_CAN_MAX_FILTERS 14
/* DAC attributes.*/
-#define STM32_HAS_DAC TRUE
+#define STM32_HAS_DAC1 TRUE
+#define STM32_HAS_DAC2 TRUE
/* DMA attributes.*/
-#define STM32_ADVANCED_DMA FALSE
-#define STM32_HAS_DMA1 TRUE
-#define STM32_HAS_DMA2 TRUE
+#define STM32_ADVANCED_DMA FALSE
+#define STM32_HAS_DMA1 TRUE
+#define STM32_HAS_DMA2 TRUE
/* ETH attributes.*/
-#define STM32_HAS_ETH FALSE
+#define STM32_HAS_ETH FALSE
/* EXTI attributes.*/
-#define STM32_EXTI_NUM_CHANNELS 34
+#define STM32_EXTI_NUM_CHANNELS 34
/* GPIO attributes.*/
-#define STM32_HAS_GPIOA TRUE
-#define STM32_HAS_GPIOB TRUE
-#define STM32_HAS_GPIOC TRUE
-#define STM32_HAS_GPIOD TRUE
-#define STM32_HAS_GPIOE TRUE
-#define STM32_HAS_GPIOF TRUE
-#define STM32_HAS_GPIOG FALSE
-#define STM32_HAS_GPIOH FALSE
-#define STM32_HAS_GPIOI FALSE
+#define STM32_HAS_GPIOA TRUE
+#define STM32_HAS_GPIOB TRUE
+#define STM32_HAS_GPIOC TRUE
+#define STM32_HAS_GPIOD TRUE
+#define STM32_HAS_GPIOE TRUE
+#define STM32_HAS_GPIOF TRUE
+#define STM32_HAS_GPIOG FALSE
+#define STM32_HAS_GPIOH FALSE
+#define STM32_HAS_GPIOI FALSE
/* I2C attributes.*/
-#define STM32_HAS_I2C1 TRUE
-#define STM32_I2C1_RX_DMA_MSK (STM32_DMA_STREAM_ID_MSK(1, 7))
-#define STM32_I2C1_RX_DMA_CHN 0x00000000
-#define STM32_I2C1_TX_DMA_MSK (STM32_DMA_STREAM_ID_MSK(1, 6))
-#define STM32_I2C1_TX_DMA_CHN 0x00000000
+#define STM32_HAS_I2C1 TRUE
+#define STM32_I2C1_RX_DMA_MSK (STM32_DMA_STREAM_ID_MSK(1, 7))
+#define STM32_I2C1_RX_DMA_CHN 0x00000000
+#define STM32_I2C1_TX_DMA_MSK (STM32_DMA_STREAM_ID_MSK(1, 6))
+#define STM32_I2C1_TX_DMA_CHN 0x00000000
-#define STM32_HAS_I2C2 TRUE
-#define STM32_I2C2_RX_DMA_MSK (STM32_DMA_STREAM_ID_MSK(1, 5))
-#define STM32_I2C2_RX_DMA_CHN 0x00000000
-#define STM32_I2C2_TX_DMA_MSK (STM32_DMA_STREAM_ID_MSK(1, 4))
-#define STM32_I2C2_TX_DMA_CHN 0x00000000
+#define STM32_HAS_I2C2 TRUE
+#define STM32_I2C2_RX_DMA_MSK (STM32_DMA_STREAM_ID_MSK(1, 5))
+#define STM32_I2C2_RX_DMA_CHN 0x00000000
+#define STM32_I2C2_TX_DMA_MSK (STM32_DMA_STREAM_ID_MSK(1, 4))
+#define STM32_I2C2_TX_DMA_CHN 0x00000000
-#define STM32_HAS_I2C3 FALSE
-#define STM32_I2C3_RX_DMA_MSK 0
-#define STM32_I2C3_RX_DMA_CHN 0x00000000
-#define STM32_I2C3_TX_DMA_MSK 0
-#define STM32_I2C3_TX_DMA_CHN 0x00000000
+#define STM32_HAS_I2C3 FALSE
+#define STM32_I2C3_RX_DMA_MSK 0
+#define STM32_I2C3_RX_DMA_CHN 0x00000000
+#define STM32_I2C3_TX_DMA_MSK 0
+#define STM32_I2C3_TX_DMA_CHN 0x00000000
/* RTC attributes.*/
-#define STM32_HAS_RTC TRUE
-#define STM32_RTC_HAS_SUBSECONDS TRUE
-#define STM32_RTC_IS_CALENDAR TRUE
+#define STM32_HAS_RTC TRUE
+#define STM32_RTC_HAS_SUBSECONDS TRUE
+#define STM32_RTC_IS_CALENDAR TRUE
/* SDIO attributes.*/
-#define STM32_HAS_SDIO FALSE
+#define STM32_HAS_SDIO FALSE
/* SPI attributes.*/
-#define STM32_HAS_SPI1 TRUE
-#define STM32_SPI1_RX_DMA_MSK STM32_DMA_STREAM_ID_MSK(1, 2)
-#define STM32_SPI1_RX_DMA_CHN 0x00000000
-#define STM32_SPI1_TX_DMA_MSK STM32_DMA_STREAM_ID_MSK(1, 3)
-#define STM32_SPI1_TX_DMA_CHN 0x00000000
+#define STM32_HAS_SPI1 TRUE
+#define STM32_SPI1_RX_DMA_MSK STM32_DMA_STREAM_ID_MSK(1, 2)
+#define STM32_SPI1_RX_DMA_CHN 0x00000000
+#define STM32_SPI1_TX_DMA_MSK STM32_DMA_STREAM_ID_MSK(1, 3)
+#define STM32_SPI1_TX_DMA_CHN 0x00000000
-#define STM32_HAS_SPI2 TRUE
-#define STM32_SPI2_RX_DMA_MSK STM32_DMA_STREAM_ID_MSK(1, 4)
-#define STM32_SPI2_RX_DMA_CHN 0x00000000
-#define STM32_SPI2_TX_DMA_MSK STM32_DMA_STREAM_ID_MSK(1, 5)
-#define STM32_SPI2_TX_DMA_CHN 0x00000000
+#define STM32_HAS_SPI2 TRUE
+#define STM32_SPI2_RX_DMA_MSK STM32_DMA_STREAM_ID_MSK(1, 4)
+#define STM32_SPI2_RX_DMA_CHN 0x00000000
+#define STM32_SPI2_TX_DMA_MSK STM32_DMA_STREAM_ID_MSK(1, 5)
+#define STM32_SPI2_TX_DMA_CHN 0x00000000
-#define STM32_HAS_SPI3 TRUE
-#define STM32_SPI3_RX_DMA_MSK STM32_DMA_STREAM_ID_MSK(2, 1)
-#define STM32_SPI3_RX_DMA_CHN 0x00000000
-#define STM32_SPI3_TX_DMA_MSK STM32_DMA_STREAM_ID_MSK(2, 2)
-#define STM32_SPI3_TX_DMA_CHN 0x00000000
+#define STM32_HAS_SPI3 TRUE
+#define STM32_SPI3_RX_DMA_MSK STM32_DMA_STREAM_ID_MSK(2, 1)
+#define STM32_SPI3_RX_DMA_CHN 0x00000000
+#define STM32_SPI3_TX_DMA_MSK STM32_DMA_STREAM_ID_MSK(2, 2)
+#define STM32_SPI3_TX_DMA_CHN 0x00000000
/* TIM attributes.*/
-#define STM32_HAS_TIM1 TRUE
-#define STM32_HAS_TIM2 TRUE
-#define STM32_HAS_TIM3 TRUE
-#define STM32_HAS_TIM4 TRUE
-#define STM32_HAS_TIM5 FALSE
-#define STM32_HAS_TIM6 TRUE
-#define STM32_HAS_TIM7 TRUE
-#define STM32_HAS_TIM8 TRUE
-#define STM32_HAS_TIM9 FALSE
-#define STM32_HAS_TIM10 FALSE
-#define STM32_HAS_TIM11 FALSE
-#define STM32_HAS_TIM12 FALSE
-#define STM32_HAS_TIM13 FALSE
-#define STM32_HAS_TIM14 FALSE
-#define STM32_HAS_TIM15 TRUE
-#define STM32_HAS_TIM16 TRUE
-#define STM32_HAS_TIM17 TRUE
-#define STM32_HAS_TIM18 FALSE
-#define STM32_HAS_TIM19 FALSE
+#define STM32_TIM_MAX_CHANNELS 6
+
+#define STM32_HAS_TIM1 TRUE
+#define STM32_TIM1_IS_32BITS FALSE
+#define STM32_TIM1_CHANNELS 6
+
+#define STM32_HAS_TIM2 TRUE
+#define STM32_TIM2_IS_32BITS TRUE
+#define STM32_TIM2_CHANNELS 4
+
+#define STM32_HAS_TIM3 TRUE
+#define STM32_TIM3_IS_32BITS FALSE
+#define STM32_TIM3_CHANNELS 4
+
+#define STM32_HAS_TIM4 TRUE
+#define STM32_TIM4_IS_32BITS FALSE
+#define STM32_TIM4_CHANNELS 4
+
+#define STM32_HAS_TIM6 TRUE
+#define STM32_TIM6_IS_32BITS FALSE
+#define STM32_TIM6_CHANNELS 0
+
+#define STM32_HAS_TIM7 TRUE
+#define STM32_TIM7_IS_32BITS FALSE
+#define STM32_TIM7_CHANNELS 0
+
+#define STM32_HAS_TIM8 TRUE
+#define STM32_TIM8_IS_32BITS FALSE
+#define STM32_TIM8_CHANNELS 6
+
+#define STM32_HAS_TIM15 TRUE
+#define STM32_TIM15_IS_32BITS FALSE
+#define STM32_TIM15_CHANNELS 2
+
+#define STM32_HAS_TIM16 TRUE
+#define STM32_TIM16_IS_32BITS FALSE
+#define STM32_TIM16_CHANNELS 2
+
+#define STM32_HAS_TIM17 TRUE
+#define STM32_TIM17_IS_32BITS FALSE
+#define STM32_TIM17_CHANNELS 2
+
+#define STM32_HAS_TIM5 FALSE
+#define STM32_HAS_TIM9 FALSE
+#define STM32_HAS_TIM10 FALSE
+#define STM32_HAS_TIM11 FALSE
+#define STM32_HAS_TIM12 FALSE
+#define STM32_HAS_TIM13 FALSE
+#define STM32_HAS_TIM14 FALSE
+#define STM32_HAS_TIM18 FALSE
+#define STM32_HAS_TIM19 FALSE
/* USART attributes.*/
-#define STM32_HAS_USART1 TRUE
-#define STM32_USART1_RX_DMA_MSK (STM32_DMA_STREAM_ID_MSK(1, 5))
-#define STM32_USART1_RX_DMA_CHN 0x00000000
-#define STM32_USART1_TX_DMA_MSK (STM32_DMA_STREAM_ID_MSK(1, 4))
-#define STM32_USART1_TX_DMA_CHN 0x00000000
+#define STM32_HAS_USART1 TRUE
+#define STM32_USART1_RX_DMA_MSK (STM32_DMA_STREAM_ID_MSK(1, 5))
+#define STM32_USART1_RX_DMA_CHN 0x00000000
+#define STM32_USART1_TX_DMA_MSK (STM32_DMA_STREAM_ID_MSK(1, 4))
+#define STM32_USART1_TX_DMA_CHN 0x00000000
-#define STM32_HAS_USART2 TRUE
-#define STM32_USART2_RX_DMA_MSK (STM32_DMA_STREAM_ID_MSK(1, 6))
-#define STM32_USART2_RX_DMA_CHN 0x00000000
-#define STM32_USART2_TX_DMA_MSK (STM32_DMA_STREAM_ID_MSK(1, 7))
-#define STM32_USART2_TX_DMA_CHN 0x00000000
+#define STM32_HAS_USART2 TRUE
+#define STM32_USART2_RX_DMA_MSK (STM32_DMA_STREAM_ID_MSK(1, 6))
+#define STM32_USART2_RX_DMA_CHN 0x00000000
+#define STM32_USART2_TX_DMA_MSK (STM32_DMA_STREAM_ID_MSK(1, 7))
+#define STM32_USART2_TX_DMA_CHN 0x00000000
-#define STM32_HAS_USART3 TRUE
-#define STM32_USART3_RX_DMA_MSK (STM32_DMA_STREAM_ID_MSK(1, 3))
-#define STM32_USART3_RX_DMA_CHN 0x00000000
-#define STM32_USART3_TX_DMA_MSK (STM32_DMA_STREAM_ID_MSK(1, 2))
-#define STM32_USART3_TX_DMA_CHN 0x00000000
+#define STM32_HAS_USART3 TRUE
+#define STM32_USART3_RX_DMA_MSK (STM32_DMA_STREAM_ID_MSK(1, 3))
+#define STM32_USART3_RX_DMA_CHN 0x00000000
+#define STM32_USART3_TX_DMA_MSK (STM32_DMA_STREAM_ID_MSK(1, 2))
+#define STM32_USART3_TX_DMA_CHN 0x00000000
-#define STM32_HAS_UART4 FALSE
-#define STM32_UART4_RX_DMA_MSK (STM32_DMA_STREAM_ID_MSK(2, 3))
-#define STM32_UART4_RX_DMA_CHN 0x00000000
-#define STM32_UART4_TX_DMA_MSK (STM32_DMA_STREAM_ID_MSK(2, 5))
-#define STM32_UART4_TX_DMA_CHN 0x00000000
+#define STM32_HAS_UART4 TRUE
+#define STM32_UART4_RX_DMA_MSK (STM32_DMA_STREAM_ID_MSK(2, 3))
+#define STM32_UART4_RX_DMA_CHN 0x00000000
+#define STM32_UART4_TX_DMA_MSK (STM32_DMA_STREAM_ID_MSK(2, 5))
+#define STM32_UART4_TX_DMA_CHN 0x00000000
-#define STM32_HAS_UART5 FALSE
-#define STM32_UART5_RX_DMA_MSK 0
-#define STM32_UART5_RX_DMA_CHN 0x00000000
-#define STM32_UART5_TX_DMA_MSK 0
-#define STM32_UART5_TX_DMA_CHN 0x00000000
+#define STM32_HAS_UART5 TRUE
+#define STM32_UART5_RX_DMA_MSK 0
+#define STM32_UART5_RX_DMA_CHN 0x00000000
+#define STM32_UART5_TX_DMA_MSK 0
+#define STM32_UART5_TX_DMA_CHN 0x00000000
-#define STM32_HAS_USART6 FALSE
-#define STM32_USART6_RX_DMA_MSK 0
-#define STM32_USART6_RX_DMA_CHN 0x00000000
-#define STM32_USART6_TX_DMA_MSK 0
-#define STM32_USART6_TX_DMA_CHN 0x00000000
+#define STM32_HAS_USART6 FALSE
+#define STM32_USART6_RX_DMA_MSK 0
+#define STM32_USART6_RX_DMA_CHN 0x00000000
+#define STM32_USART6_TX_DMA_MSK 0
+#define STM32_USART6_TX_DMA_CHN 0x00000000
/* USB attributes.*/
-#define STM32_HAS_USB TRUE
-#define STM32_HAS_OTG1 FALSE
-#define STM32_HAS_OTG2 FALSE
+#define STM32_HAS_USB TRUE
+#define STM32_HAS_OTG1 FALSE
+#define STM32_HAS_OTG2 FALSE
/** @} */
#endif /* _STM32_REGISTRY_H_ */
diff --git a/os/halnew/src/hal.c b/os/halnew/src/hal.c
index c104f5eae..8b56b4ac8 100644
--- a/os/halnew/src/hal.c
+++ b/os/halnew/src/hal.c
@@ -59,6 +59,10 @@
*/
void halInit(void) {
+ /* Initializes the OS Abstraction Layer.*/
+ osalInit();
+
+ /* Platform low level initializations.*/
hal_lld_init();
#if HAL_USE_TM || defined(__DOXYGEN__)
@@ -115,79 +119,14 @@ void halInit(void) {
#if HAL_USE_RTC || defined(__DOXYGEN__)
rtcInit();
#endif
+
/* Board specific initialization.*/
boardInit();
-}
-#if HAL_IMPLEMENTS_COUNTERS || defined(__DOXYGEN__)
-/**
- * @brief Realtime window test.
- * @details This function verifies if the current realtime counter value
- * lies within the specified range or not. The test takes care
- * of the realtime counter wrapping to zero on overflow.
- * @note When start==end then the function returns always true because the
- * whole time range is specified.
- * @note This is an optional service that could not be implemented in
- * all HAL implementations.
- * @note This function can be called from any context.
- *
- * @par Example 1
- * Example of a guarded loop using the realtime counter. The loop implements
- * a timeout after one second.
- * @code
- * halrtcnt_t start = halGetCounterValue();
- * halrtcnt_t timeout = start + S2RTT(1);
- * while (my_condition) {
- * if (!halIsCounterWithin(start, timeout)
- * return TIMEOUT;
- * // Do something.
- * }
- * // Continue.
- * @endcode
- *
- * @par Example 2
- * Example of a loop that lasts exactly 50 microseconds.
- * @code
- * halrtcnt_t start = halGetCounterValue();
- * halrtcnt_t timeout = start + US2RTT(50);
- * while (halIsCounterWithin(start, timeout)) {
- * // Do something.
- * }
- * // Continue.
- * @endcode
- *
- * @param[in] start the start of the time window (inclusive)
- * @param[in] end the end of the time window (non inclusive)
- * @retval TRUE current time within the specified time window.
- * @retval FALSE current time not within the specified time window.
- *
- * @special
- */
-bool_t halIsCounterWithin(halrtcnt_t start, halrtcnt_t end) {
- halrtcnt_t now = halGetCounterValue();
-
- return end > start ? (now >= start) && (now < end) :
- (now >= start) || (now < end);
+#if (OSAL_ST_MODE != OSAL_ST_MODE_NONE) || defined(__DOXYGEN__)
+ /* System tick service if the underlying OS requires it.*/
+ stInit();
+#endif
}
-/**
- * @brief Polled delay.
- * @note The real delays is always few cycles in excess of the specified
- * value.
- * @note This is an optional service that could not be implemented in
- * all HAL implementations.
- * @note This function can be called from any context.
- *
- * @param[in] ticks number of ticks
- *
- * @special
- */
-void halPolledDelay(halrtcnt_t ticks) {
- halrtcnt_t start = halGetCounterValue();
- halrtcnt_t timeout = start + (ticks);
- while (halIsCounterWithin(start, timeout))
- ;
-}
-#endif /* HAL_IMPLEMENTS_COUNTERS */
-
/** @} */
diff --git a/os/halnew/src/st.c b/os/halnew/src/st.c
new file mode 100644
index 000000000..f2e8f3bf2
--- /dev/null
+++ b/os/halnew/src/st.c
@@ -0,0 +1,71 @@
+/*
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011,2012,2013 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
+*/
+
+/**
+ * @file st.c
+ * @brief ST Driver code.
+ *
+ * @addtogroup ST
+ * @{
+ */
+
+#include "hal.h"
+
+#if (OSAL_ST_MODE != OSAL_ST_MODE_NONE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief ST Driver initialization.
+ * @note This function is implicitly invoked by @p halInit(), there is
+ * no need to explicitly initialize the driver.
+ *
+ * @init
+ */
+void stInit(void) {
+
+ st_lld_init();
+}
+
+#endif /* OSAL_ST_MODE != OSAL_ST_MODE_NONE */
+
+/** @} */
diff --git a/os/ports/GCC/ARMCMx/STM32F3xx/chtimer.h b/os/ports/GCC/ARMCMx/STM32F3xx/chtimer.h
index 060925edf..4f42a1fb3 100644
--- a/os/ports/GCC/ARMCMx/STM32F3xx/chtimer.h
+++ b/os/ports/GCC/ARMCMx/STM32F3xx/chtimer.h
@@ -45,46 +45,34 @@
/*===========================================================================*/
typedef struct {
- volatile uint16_t CR1;
- uint16_t _resvd0;
- volatile uint16_t CR2;
- uint16_t _resvd1;
- volatile uint16_t SMCR;
- uint16_t _resvd2;
- volatile uint16_t DIER;
- uint16_t _resvd3;
- volatile uint16_t SR;
- uint16_t _resvd4;
- volatile uint16_t EGR;
- uint16_t _resvd5;
- volatile uint16_t CCMR1;
- uint16_t _resvd6;
- volatile uint16_t CCMR2;
- uint16_t _resvd7;
- volatile uint16_t CCER;
- uint16_t _resvd8;
+ volatile uint32_t CR1;
+ volatile uint32_t CR2;
+ volatile uint32_t SMCR;
+ volatile uint32_t DIER;
+ volatile uint32_t SR;
+ volatile uint32_t EGR;
+ volatile uint32_t CCMR1;
+ volatile uint32_t CCMR2;
+ volatile uint32_t CCER;
volatile uint32_t CNT;
- volatile uint16_t PSC;
- uint16_t _resvd9;
+ volatile uint32_t PSC;
volatile uint32_t ARR;
- volatile uint16_t RCR;
- uint16_t _resvd10;
+ volatile uint32_t RCR;
volatile uint32_t CCR[4];
- volatile uint16_t BDTR;
- uint16_t _resvd11;
- volatile uint16_t DCR;
- uint16_t _resvd12;
- volatile uint16_t DMAR;
- uint16_t _resvd13;
- volatile uint16_t OR;
- uint16_t _resvd14;
-} stm32f0_tim_t;
+ volatile uint32_t BDTR;
+ volatile uint32_t DCR;
+ volatile uint32_t DMAR;
+ volatile uint32_t OR;
+ volatile uint32_t CCMR3;
+ volatile uint32_t CCR5;
+ volatile uint32_t CCR6;
+} local_stm32_tim_t;
/*===========================================================================*/
/* Module macros. */
/*===========================================================================*/
-#define STM32F3_TIM2 ((stm32f0_tim_t *)0x40000000)
+#define STM32F3_TIM2 ((local_stm32_tim_t *)0x40000000)
/*===========================================================================*/
/* External declarations. */