Support PWM testing on board nucleo-l476.

configs/nucleo-l476rg/include/board.h

@@ -212,6 +212,18 @@
 #define GPIO_TIM2_CH1IN GPIO_TIM2_CH1IN_1
 #define GPIO_TIM2_CH2IN GPIO_TIM2_CH2IN_1
 
+/* PWM output for full bridge, uses config 1, because port E is N/A on QFP64
+ * CH1     | 1(A8) 2(E9)
+ * CH2     | 1(A9) 2(E11)
+ * CHN1    | 1(A7) 2(B13) 3(E8)
+ * CHN2    | 1(B0) 2(B14) 3(E10)
+ */
+
+#define GPIO_TIM1_CH1OUT  GPIO_TIM1_CH1OUT_1
+#define GPIO_TIM1_CH1NOUT GPIO_TIM1_CH1N_1
+#define GPIO_TIM1_CH2OUT  GPIO_TIM1_CH2OUT_1
+#define GPIO_TIM1_CH2NOUT GPIO_TIM1_CH2N_1
+
 /************************************************************************************
  * Public Data
  ************************************************************************************/

configs/nucleo-l476rg/src/Makefile

@@ -66,6 +66,10 @@ ifeq ($(CONFIG_QENCODER),y)
 CSRCS += stm32_qencoder.c
 endif
 
+ifeq ($(CONFIG_PWM),y)
+CSRCS += stm32_pwm.c
+endif
+
 ifeq ($(CONFIG_LIB_BOARDCTL),y)
 CSRCS += stm32_appinit.c
 endif

configs/nucleo-l476rg/src/stm32_appinit.c

@@ -207,3 +207,24 @@ int board_app_initialize(uintptr_t arg)
 
   return OK;
 }
+
+#ifdef CONFIG_BOARDCTL_IOCTL
+int board_ioctl(unsigned int cmd, uintptr_t arg)
+{
+  return -ENOTTY;
+}
+#endif
+
+#if defined(CONFIG_BOARDCTL_UNIQUEID)
+int board_uniqueid(uint8_t *uniqueid)
+{
+  if (uniqueid == 0)
+    {
+      return -EINVAL;
+    }
+
+  stm32l4_get_uniqueid(uniqueid);
+  return OK;
+}
+#endif
+

configs/nucleo-l476rg/src/stm32_pwm.c

@@ -0,0 +1,275 @@
+/************************************************************************************
+ * configs/nucleo-l476rg/src/stm32_pwm.c
+ *
+ *   Copyright (C) 2011, 2015 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ *   Copyright (C) 2016 Sebastien Lorquet. All rights reserved.
+ *   Author: Sebastien Lorquet <sebastien@lorquet.fr>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/board.h>
+#include <nuttx/drivers/pwm.h>
+
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "up_arch.h"
+#include "stm32l4_pwm.h"
+#include "nucleo-l476rg.h"
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration *******************************************************************/
+/* PWM
+ *
+ * The STM3240G-Eval has no real on-board PWM devices, but the board can be
+ * configured to output a pulse train using variously unused pins on the board for
+ * PWM output (see board.h for details of pins).
+ */
+
+#ifdef CONFIG_PWM
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: board_pwm_setup
+ *
+ * Description:
+ *   All STM32L4 architectures must provide the following interface to work with
+ *   examples/pwm.
+ *
+ ************************************************************************************/
+
+int board_pwm_setup(void)
+{
+  static bool initialized = false;
+  struct pwm_lowerhalf_s *pwm;
+  int ret;
+
+  /* Have we already initialized? */
+
+  if (!initialized)
+    {
+      /* Call stm32l4_pwminitialize() to get an instance of the PWM interface */
+/* PWM
+ *
+ * The Nucleo-l476rg has no real on-board PWM devices, but the board can be
+ * configured to output a pulse train using TIM1 or 8, or others (see board.h).
+ * Let's figure out which the user has configured.
+ */
+
+# if defined(CONFIG_STM32L4_TIM1_PWM)
+      pwm = stm32l4_pwminitialize(1);
+      if (!pwm)
+        {
+          aerr("ERROR: Failed to get the STM32L4 PWM lower half\n");
+          return -ENODEV;
+        }
+
+      /* Register the PWM driver at "/dev/pwm0" */
+
+      ret = pwm_register("/dev/pwm0", pwm);
+      if (ret < 0)
+        {
+          aerr("ERROR: pwm_register failed: %d\n", ret);
+          return ret;
+        }
+#endif
+
+# if defined(CONFIG_STM32L4_TIM2_PWM)
+      pwm = stm32l4_pwminitialize(2);
+      if (!pwm)
+        {
+          aerr("ERROR: Failed to get the STM32L4 PWM lower half\n");
+          return -ENODEV;
+        }
+
+      /* Register the PWM driver at "/dev/pwm1" */
+
+      ret = pwm_register("/dev/pwm1", pwm);
+      if (ret < 0)
+        {
+          aerr("ERROR: pwm_register failed: %d\n", ret);
+          return ret;
+        }
+#endif
+
+# if defined(CONFIG_STM32L4_TIM3_PWM)
+      pwm = stm32l4_pwminitialize(3);
+      if (!pwm)
+        {
+          aerr("ERROR: Failed to get the STM32L4 PWM lower half\n");
+          return -ENODEV;
+        }
+
+      /* Register the PWM driver at "/dev/pwm2" */
+
+      ret = pwm_register("/dev/pwm2", pwm);
+      if (ret < 0)
+        {
+          aerr("ERROR: pwm_register failed: %d\n", ret);
+          return ret;
+        }
+#endif
+
+# if defined(CONFIG_STM32L4_TIM4_PWM)
+      pwm = stm32l4_pwminitialize(4);
+      if (!pwm)
+        {
+          aerr("ERROR: Failed to get the STM32L4 PWM lower half\n");
+          return -ENODEV;
+        }
+
+      /* Register the PWM driver at "/dev/pwm3" */
+
+      ret = pwm_register("/dev/pwm3", pwm);
+      if (ret < 0)
+        {
+          aerr("ERROR: pwm_register failed: %d\n", ret);
+          return ret;
+        }
+#endif
+
+# if defined(CONFIG_STM32L4_TIM5_PWM)
+      pwm = stm32l4_pwminitialize(5);
+      if (!pwm)
+        {
+          aerr("ERROR: Failed to get the STM32L4 PWM lower half\n");
+          return -ENODEV;
+        }
+
+      /* Register the PWM driver at "/dev/pwm4" */
+
+      ret = pwm_register("/dev/pwm4", pwm);
+      if (ret < 0)
+        {
+          aerr("ERROR: pwm_register failed: %d\n", ret);
+          return ret;
+        }
+#endif
+
+# if defined(CONFIG_STM32L4_TIM8_PWM)
+      pwm = stm32l4_pwminitialize(8);
+      if (!pwm)
+        {
+          aerr("ERROR: Failed to get the STM32L4 PWM lower half\n");
+          return -ENODEV;
+        }
+
+      /* Register the PWM driver at "/dev/pwm5" */
+
+      ret = pwm_register("/dev/pwm5", pwm);
+      if (ret < 0)
+        {
+          aerr("ERROR: pwm_register failed: %d\n", ret);
+          return ret;
+        }
+#endif
+
+# if defined(CONFIG_STM32L4_TIM15_PWM)
+      pwm = stm32l4_pwminitialize(15);
+      if (!pwm)
+        {
+          aerr("ERROR: Failed to get the STM32L4 PWM lower half\n");
+          return -ENODEV;
+        }
+
+      /* Register the PWM driver at "/dev/pwm6" */
+
+      ret = pwm_register("/dev/pwm6", pwm);
+      if (ret < 0)
+        {
+          aerr("ERROR: pwm_register failed: %d\n", ret);
+          return ret;
+        }
+#endif
+
+# if defined(CONFIG_STM32L4_TIM16_PWM)
+      pwm = stm32l4_pwminitialize(16);
+      if (!pwm)
+        {
+          aerr("ERROR: Failed to get the STM32L4 PWM lower half\n");
+          return -ENODEV;
+        }
+
+      /* Register the PWM driver at "/dev/pwm7" */
+
+      ret = pwm_register("/dev/pwm7", pwm);
+      if (ret < 0)
+        {
+          aerr("ERROR: pwm_register failed: %d\n", ret);
+          return ret;
+        }
+#endif
+
+# if defined(CONFIG_STM32L4_TIM17_PWM)
+      pwm = stm32l4_pwminitialize(17);
+      if (!pwm)
+        {
+          aerr("ERROR: Failed to get the STM32L4 PWM lower half\n");
+          return -ENODEV;
+        }
+
+      /* Register the PWM driver at "/dev/pwm8" */
+
+      ret = pwm_register("/dev/pwm8", pwm);
+      if (ret < 0)
+        {
+          aerr("ERROR: pwm_register failed: %d\n", ret);
+          return ret;
+        }
+#endif
+      /* Now we are initialized */
+
+      initialized = true;
+    }
+
+  return OK;
+}
+
+#endif /* CONFIG_PWM */