arch/stm32_capture_lowerhalf.c: add lower half support of capture

arch/arm/src/stm32/Kconfig

@@ -3413,6 +3413,10 @@ config STM32_PWM
 	bool
 	default n
 
+config STM32_CAP
+	bool
+	default n
+
 config STM32_COMP
 	bool
 	default n
@@ -6765,122 +6769,350 @@ config STM32_TIM1_CAP
 	bool "TIM1 Capture"
 	default n
 	depends on STM32_TIM1
+	select STM32_CAP
 	---help---
 		Reserve timer 1 for use by Capture
 
 		Timer devices may be used for different purposes.  One special purpose is
 		to capture input.
 
+if STM32_TIM1_CAP
+
+config STM32_TIM1_CHANNEL
+	int "TIM1 Capture Input Channel"
+	default 1
+	range 1 4
+	---help---
+		If TIM1 is enabled for capture usage, you also need specifies the timer input
+		channel {1,..,4}
+
+config STM32_TIM1_CLOCK
+	int "TIM1 work frequence for capture"
+	default 1000000
+	---help---
+		This clock frequence limiting the count rate at the expense of resolution.
+
+endif # STM32_TIM1_CAP
+
 config STM32_TIM2_CAP
 	bool "TIM2 Capture"
 	default n
 	depends on STM32_TIM2
+	select STM32_CAP
 	---help---
 		Reserve timer 2 for use by Capture
 
 		Timer devices may be used for different purposes.  One special purpose is
 		to capture input.
 
+if STM32_TIM2_CAP
+
+config STM32_TIM2_CHANNEL
+	int "TIM2 Capture Input Channel"
+	default 1
+	range 1 4
+	---help---
+		If TIM2 is enabled for capture usage, you also need specifies the timer input
+		channel {1,..,4}
+
+config STM32_TIM2_CLOCK
+	int "TIM2 work frequence for capture"
+	default 1000000
+	---help---
+		This clock frequence limiting the count rate at the expense of resolution.
+
+endif # STM32_TIM2_CAP
+
 config STM32_TIM3_CAP
 	bool "TIM3 Capture"
 	default n
 	depends on STM32_TIM3
+	select STM32_CAP
 	---help---
 		Reserve timer 3 for use by Capture
 
 		Timer devices may be used for different purposes.  One special purpose is
 		to capture input.
 
+if STM32_TIM3_CAP
+
+config STM32_TIM3_CHANNEL
+	int "TIM3 Capture Input Channel"
+	default 1
+	range 1 4
+	---help---
+		If TIM3 is enabled for capture usage, you also need specifies the timer input
+		channel {1,..,4}
+
+config STM32_TIM3_CLOCK
+	int "TIM3 work frequence for capture"
+	default 1000000
+	---help---
+		This clock frequence limiting the count rate at the expense of resolution.
+
+endif # STM32_TIM3_CAP
+
 config STM32_TIM4_CAP
 	bool "TIM4 Capture"
 	default n
 	depends on STM32_TIM4
+	select STM32_CAP
 	---help---
 		Reserve timer 4 for use by Capture
 
 		Timer devices may be used for different purposes.  One special purpose is
 		to capture input.
 
+if STM32_TIM4_CAP
+
+config STM32_TIM4_CHANNEL
+	int "TIM4 Capture Input Channel"
+	default 1
+	range 1 4
+	---help---
+		If TIM4 is enabled for capture usage, you also need specifies the timer input
+		channel {1,..,4}
+
+config STM32_TIM4_CLOCK
+	int "TIM4 work frequence for capture"
+	default 1000000
+	---help---
+		This clock frequence limiting the count rate at the expense of resolution.
+
+endif # STM32_TIM4_CAP
+
 config STM32_TIM5_CAP
 	bool "TIM5 Capture"
 	default n
 	depends on STM32_TIM5
+	select STM32_CAP
 	---help---
 		Reserve timer 5 for use by Capture
 
 		Timer devices may be used for different purposes.  One special purpose is
 		to capture input.
 
+if STM32_TIM5_CAP
+
+config STM32_TIM5_CHANNEL
+	int "TIM5 Capture Input Channel"
+	default 1
+	range 1 4
+	---help---
+		If TIM5 is enabled for capture usage, you also need specifies the timer input
+		channel {1,..,4}
+
+config STM32_TIM5_CLOCK
+	int "TIM5 work frequence for capture"
+	default 1000000
+	---help---
+		This clock frequence limiting the count rate at the expense of resolution.
+
+endif # STM32_TIM5_CAP
+
 config STM32_TIM8_CAP
 	bool "TIM8 Capture"
 	default n
 	depends on STM32_TIM8
+	select STM32_CAP
 	---help---
 		Reserve timer 8 for use by Capture
 
 		Timer devices may be used for different purposes.  One special purpose is
 		to capture input.
 
+if STM32_TIM8_CAP
+
+config STM32_TIM8_CHANNEL
+	int "TIM8 Capture Input Channel"
+	default 1
+	range 1 4
+	---help---
+		If TIM8 is enabled for capture usage, you also need specifies the timer input
+		channel {1,..,4}
+
+config STM32_TIM8_CLOCK
+	int "TIM8 work frequence for capture"
+	default 1000000
+	---help---
+		This clock frequence limiting the count rate at the expense of resolution.
+
+endif # STM32_TIM8_CAP
+
 config STM32_TIM9_CAP
 	bool "TIM9 Capture"
 	default n
 	depends on STM32_TIM9
+	select STM32_CAP
 	---help---
 		Reserve timer 9 for use by Capture
 
 		Timer devices may be used for different purposes.  One special purpose is
 		to capture input.
 
+if STM32_TIM9_CAP
+
+config STM32_TIM9_CHANNEL
+	int "TIM9 Capture Input Channel"
+	default 1
+	range 1 4
+	---help---
+		If TIM9 is enabled for capture usage, you also need specifies the timer input
+		channel {1,..,4}
+
+config STM32_TIM9_CLOCK
+	int "TIM9 work frequence for capture"
+	default 1000000
+	---help---
+		This clock frequence limiting the count rate at the expense of resolution.
+
+endif # STM32_TIM9_CAP
+
 config STM32_TIM10_CAP
 	bool "TIM10 Capture"
 	default n
 	depends on STM32_TIM10
+	select STM32_CAP
 	---help---
 		Reserve timer 10 for use by Capture
 
 		Timer devices may be used for different purposes.  One special purpose is
 		to capture input.
 
+if STM32_TIM10_CAP
+
+config STM32_TIM10_CHANNEL
+	int "TIM10 Capture Input Channel"
+	default 1
+	range 1 4
+	---help---
+		If TIM10 is enabled for capture usage, you also need specifies the timer input
+		channel {1,..,4}
+
+config STM32_TIM10_CLOCK
+	int "TIM10 work frequence for capture"
+	default 1000000
+	---help---
+		This clock frequence limiting the count rate at the expense of resolution.
+
+endif # STM32_TIM10_CAP
+
 config STM32_TIM11_CAP
 	bool "TIM11 Capture"
 	default n
 	depends on STM32_TIM11
+	select STM32_CAP
 	---help---
 		Reserve timer 11 for use by Capture
 
 		Timer devices may be used for different purposes.  One special purpose is
 		to capture input.
 
+if STM32_TIM11_CAP
+
+config STM32_TIM11_CHANNEL
+	int "TIM11 Capture Input Channel"
+	default 1
+	range 1 4
+	---help---
+		If TIM11 is enabled for capture usage, you also need specifies the timer input
+		channel {1,..,4}
+
+config STM32_TIM11_CLOCK
+	int "TIM11 work frequence for capture"
+	default 1000000
+	---help---
+		This clock frequence limiting the count rate at the expense of resolution.
+
+endif # STM32_TIM11_CAP
+
 config STM32_TIM12_CAP
 	bool "TIM12 Capture"
 	default n
 	depends on STM32_TIM12
+	select STM32_CAP
 	---help---
 		Reserve timer 12 for use by Capture
 
 		Timer devices may be used for different purposes.  One special purpose is
 		to capture input.
 
+if STM32_TIM12_CAP
+
+config STM32_TIM12_CHANNEL
+	int "TIM12 Capture Input Channel"
+	default 1
+	range 1 4
+	---help---
+		If TIM12 is enabled for capture usage, you also need specifies the timer input
+		channel {1,..,4}
+
+config STM32_TIM12_CLOCK
+	int "TIM12 work frequence for capture"
+	default 1000000
+	---help---
+		This clock frequence limiting the count rate at the expense of resolution.
+
+endif # STM32_TIM12_CAP
+
 config STM32_TIM13_CAP
 	bool "TIM13 Capture"
 	default n
 	depends on STM32_TIM13
+	select STM32_CAP
 	---help---
 		Reserve timer 13 for use by Capture
 
 		Timer devices may be used for different purposes.  One special purpose is
 		to capture input.
 
+if STM32_TIM13_CAP
+
+config STM32_TIM13_CHANNEL
+	int "TIM13 Capture Input Channel"
+	default 1
+	range 1 4
+	---help---
+		If TIM13 is enabled for capture usage, you also need specifies the timer input
+		channel {1,..,4}
+
+config STM32_TIM13_CLOCK
+	int "TIM13 work frequence for capture"
+	default 1000000
+	---help---
+		This clock frequence limiting the count rate at the expense of resolution.
+
+endif # STM32_TIM13_CAP
+
 config STM32_TIM14_CAP
 	bool "TIM14 Capture"
 	default n
 	depends on STM32_TIM14
+	select STM32_CAP
 	---help---
 		Reserve timer 14 for use by Capture
 
 		Timer devices may be used for different purposes.  One special purpose is
 		to capture input.
 
+if STM32_TIM14_CAP
+
+config STM32_TIM14_CHANNEL
+	int "TIM14 Capture Input Channel"
+	default 1
+	range 1 4
+	---help---
+		If TIM14 is enabled for capture usage, you also need specifies the timer input
+		channel {1,..,4}
+
+config STM32_TIM14_CLOCK
+	int "TIM14 work frequence for capture"
+	default 1000000
+	---help---
+		This clock frequence limiting the count rate at the expense of resolution.
+
+endif # STM32_TIM14_CAP
+
 menu "STM32 TIMx Outputs Configuration"
 
 config STM32_TIM1_CH1POL

arch/arm/src/stm32/Make.defs

@@ -175,6 +175,10 @@ ifeq ($(CONFIG_STM32_PWM),y)
 CHIP_CSRCS += stm32_pwm.c
 endif
 
+ifeq ($(CONFIG_STM32_CAP),y)
+CHIP_CSRCS += stm32_capture_lowerhalf.c
+endif
+
 ifeq ($(CONFIG_SENSORS_QENCODER),y)
 CHIP_CSRCS += stm32_qencoder.c
 endif

arch/arm/src/stm32/stm32_capture.c

@@ -617,13 +617,15 @@ static inline int stm32_cap_set_rcc(const struct stm32_cap_priv_s *priv,
  ****************************************************************************/
 
 static int stm32_cap_setclock(struct stm32_cap_dev_s *dev,
-                              stm32_cap_clk_t clk,
+                              uint32_t freq, uint32_t max)
-                              uint32_t prescaler, uint32_t max)
 {
   const struct stm32_cap_priv_s *priv = (const struct stm32_cap_priv_s *)dev;
-  uint16_t regval = 0;
+  uint32_t freqin;
+  int prescaler;
 
-  if (prescaler == 0)
+  /* Disable Timer? */
+
+  if (freq == 0)
     {
       /* Disable Timer */
 
@@ -631,6 +633,85 @@ static int stm32_cap_setclock(struct stm32_cap_dev_s *dev,
       return 0;
     }
 
+  /* Get the input clock frequency for this timer.  These vary with
+   * different timer clock sources, MCU-specific timer configuration, and
+   * board-specific clock configuration.  The correct input clock frequency
+   * must be defined in the board.h header file.
+   */
+
+  switch (priv->base)
+    {
+#ifdef CONFIG_STM32_TIM1
+      case STM32_TIM1_BASE:
+        freqin = STM32_APB2_TIM1_CLKIN;
+        break;
+#endif
+#ifdef CONFIG_STM32_TIM2
+      case STM32_TIM2_BASE:
+        freqin = STM32_APB1_TIM2_CLKIN;
+        break;
+#endif
+#ifdef CONFIG_STM32_TIM3
+      case STM32_TIM3_BASE:
+        freqin = STM32_APB1_TIM3_CLKIN;
+        break;
+#endif
+#ifdef CONFIG_STM32_TIM4
+      case STM32_TIM4_BASE:
+        freqin = STM32_APB1_TIM4_CLKIN;
+        break;
+#endif
+#ifdef CONFIG_STM32_TIM5
+      case STM32_TIM5_BASE:
+        freqin = STM32_APB1_TIM5_CLKIN;
+        break;
+#endif
+#ifdef CONFIG_STM32_TIM8
+      case STM32_TIM8_BASE:
+        freqin = STM32_APB2_TIM8_CLKIN;
+        break;
+#endif
+#ifdef CONFIG_STM32_TIM9
+      case STM32_TIM9_BASE:
+        freqin = STM32_APB2_TIM9_CLKIN;
+        break;
+#endif
+#ifdef CONFIG_STM32_TIM10
+      case STM32_TIM10_BASE:
+        freqin = STM32_APB2_TIM10_CLKIN;
+        break;
+#endif
+#ifdef CONFIG_STM32_TIM11
+      case STM32_TIM11_BASE:
+        freqin = STM32_APB2_TIM11_CLKIN;
+        break;
+#endif
+#ifdef CONFIG_STM32_TIM12
+      case STM32_TIM12_BASE:
+        freqin = STM32_APB1_TIM12_CLKIN;
+        break;
+#endif
+#ifdef CONFIG_STM32_TIM13
+      case STM32_TIM13_BASE:
+        freqin = STM32_APB1_TIM13_CLKIN;
+        break;
+#endif
+#ifdef CONFIG_STM32_TIM14
+      case STM32_TIM14_BASE:
+        freqin = STM32_APB1_TIM14_CLKIN;
+        break;
+#endif
+
+      default:
+        return -EINVAL;
+    }
+
+  /* Select a pre-scaler value for this timer using the input clock
+   * frequency.
+   */
+
+  prescaler = freqin / freq;
+
   /* We need to decrement value for '1', but only, if we are allowed to
    * not to cause underflow. Check for overflow.
    */
@@ -645,47 +726,6 @@ static int stm32_cap_setclock(struct stm32_cap_dev_s *dev,
       prescaler = 0xffff;
     }
 
-  switch (clk)
-    {
-      case STM32_CAP_CLK_INT:
-          regval = GTIM_SMCR_DISAB;
-          break;
-
-      case STM32_CAP_CLK_ENC1:
-          regval = GTIM_SMCR_ENCMD1;
-          break;
-
-      case STM32_CAP_CLK_ENC2:
-          regval = GTIM_SMCR_ENCMD2;
-          break;
-
-      case STM32_CAP_CLK_ENC3:
-          regval = GTIM_SMCR_ENCMD3;
-          break;
-
-      case STM32_CAP_CLK_RST:
-          regval = GTIM_SMCR_RESET;
-          break;
-
-      case STM32_CAP_CLK_GAT:
-          regval = GTIM_SMCR_GATED;
-          break;
-
-      case STM32_CAP_CLK_TRG:
-          regval = GTIM_SMCR_TRIGGER;
-          break;
-
-      case STM32_CAP_CLK_EXT:
-          regval = GTIM_SMCR_EXTCLK1;
-          break;
-
-      default:
-        return ERROR;
-    }
-
-  stm32_modifyreg16(priv, STM32_GTIM_SMCR_OFFSET,
-                    GTIM_SMCR_SMS_MASK, regval);
-
   /* Set Maximum */
 
   stm32_putreg32(priv, STM32_BTIM_ARR_OFFSET, max);
@@ -714,6 +754,115 @@ static int stm32_cap_setclock(struct stm32_cap_dev_s *dev,
   return prescaler;
 }
 
+/****************************************************************************
+ * Name: stm32_cap_setsmc
+ *
+ * Description:
+ *   set slave mode control register
+ *
+ * Input Parameters:
+ *   dev - A pointer of the stm32 capture device structure.
+ *   cfg - Slave mode control register configure of timer.
+ *
+ * Returned Value:
+ *   Zero on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+static int stm32_cap_setsmc(struct stm32_cap_dev_s *dev,
+                            stm32_cap_smc_cfg_t cfg)
+{
+  const struct stm32_cap_priv_s *priv = (const struct stm32_cap_priv_s *)dev;
+  uint16_t regval = 0;
+  uint16_t mask = 0;
+
+  switch (cfg & STM32_CAP_SMS_MASK)
+    {
+      case STM32_CAP_SMS_INT:
+          regval |= GTIM_SMCR_DISAB;
+          break;
+
+      case STM32_CAP_SMS_ENC1:
+          regval |= GTIM_SMCR_ENCMD1;
+          break;
+
+      case STM32_CAP_SMS_ENC2:
+          regval |= GTIM_SMCR_ENCMD2;
+          break;
+
+      case STM32_CAP_SMS_ENC3:
+          regval |= GTIM_SMCR_ENCMD3;
+          break;
+
+      case STM32_CAP_SMS_RST:
+          regval |= GTIM_SMCR_RESET;
+          break;
+
+      case STM32_CAP_SMS_GAT:
+          regval |= GTIM_SMCR_GATED;
+          break;
+
+      case STM32_CAP_SMS_TRG:
+          regval |= GTIM_SMCR_TRIGGER;
+          break;
+
+      case STM32_CAP_SMS_EXT:
+          regval |= GTIM_SMCR_EXTCLK1;
+          break;
+
+      default:
+          break;
+    }
+
+  switch (cfg & STM32_CAP_TS_MASK)
+    {
+      case STM32_CAP_TS_ITR0:
+          regval |= GTIM_SMCR_ITR0;
+          break;
+
+      case STM32_CAP_TS_ITR1:
+          regval |= GTIM_SMCR_ITR1;
+          break;
+
+      case STM32_CAP_TS_ITR2:
+          regval |= GTIM_SMCR_ITR2;
+          break;
+
+      case STM32_CAP_TS_ITR3:
+          regval |= GTIM_SMCR_ITR3;
+          break;
+
+      case STM32_CAP_TS_TI1FED:
+          regval |= GTIM_SMCR_TI1FED;
+          break;
+
+      case STM32_CAP_TS_TI1FP1:
+          regval |= GTIM_SMCR_TI1FP1;
+          break;
+
+      case STM32_CAP_TS_TI2FP2:
+          regval |= GTIM_SMCR_TI2FP2;
+          break;
+
+      case STM32_CAP_TS_ETRF:
+          regval |= GTIM_SMCR_ETRF;
+          break;
+
+      default:
+          break;
+    }
+
+  if (cfg & STM32_CAP_MSM_MASK)
+    {
+      regval |= STM32_CAP_MSM_MASK;
+    }
+
+  mask = (STM32_CAP_SMS_MASK | STM32_CAP_TS_MASK | STM32_CAP_MSM_MASK);
+  stm32_modifyreg16(priv, STM32_GTIM_SMCR_OFFSET, mask, regval);
+
+  return OK;
+}
+
 static int stm32_cap_setisr(struct stm32_cap_dev_s *dev, xcpt_t handler,
                             void *arg)
 {
@@ -1088,6 +1237,7 @@ static uint32_t stm32_cap_getcapture(struct stm32_cap_dev_s *dev,
 
 struct stm32_cap_ops_s stm32_cap_ops =
 {
+  .setsmc       = &stm32_cap_setsmc,
   .setclock     = &stm32_cap_setclock,
   .setchannel   = &stm32_cap_setchannel,
   .getcapture   = &stm32_cap_getcapture,

arch/arm/src/stm32/stm32_capture.h

@@ -37,7 +37,8 @@
 
 /* Helpers ******************************************************************/
 
-#define STM32_CAP_SETCLOCK(d,clk_src,psc,max)   ((d)->ops->setclock(d,clk_src,psc,max))
+#define STM32_CAP_SETSMC(d,cfg)                 ((d)->ops->setsmc(d,cfg))
+#define STM32_CAP_SETCLOCK(d,clk,max)           ((d)->ops->setclock(d,clk,max))
 #define STM32_CAP_SETCHANNEL(d,ch,cfg)          ((d)->ops->setchannel(d,ch,cfg))
 #define STM32_CAP_GETCAPTURE(d,ch)              ((d)->ops->getcapture(d,ch))
 #define STM32_CAP_SETISR(d,hnd,arg)             ((d)->ops->setisr(d,hnd,arg))
@@ -122,19 +123,38 @@ typedef enum
   STM32_CAP_EDGE_BOTH           = (3 << 8),
 } stm32_cap_ch_cfg_t;
 
-/* Capture clock sources */
+/* Slave mode control configure */
 
 typedef enum
 {
-  STM32_CAP_CLK_INT = 0,
+  /* Slave mode selection */
-  STM32_CAP_CLK_ENC1,
+
-  STM32_CAP_CLK_ENC2,
+  STM32_CAP_SMS_MASK            = (7 << GTIM_SMCR_SMS_SHIFT),
-  STM32_CAP_CLK_ENC3,
+  STM32_CAP_SMS_INT             = (0 << GTIM_SMCR_SMS_SHIFT),
-  STM32_CAP_CLK_RST,
+  STM32_CAP_SMS_ENC1            = (1 << GTIM_SMCR_SMS_SHIFT),
-  STM32_CAP_CLK_GAT,
+  STM32_CAP_SMS_ENC2            = (2 << GTIM_SMCR_SMS_SHIFT),
-  STM32_CAP_CLK_TRG,
+  STM32_CAP_SMS_ENC3            = (3 << GTIM_SMCR_SMS_SHIFT),
-  STM32_CAP_CLK_EXT,
+  STM32_CAP_SMS_RST             = (4 << GTIM_SMCR_SMS_SHIFT),
-} stm32_cap_clk_t;
+  STM32_CAP_SMS_GAT             = (5 << GTIM_SMCR_SMS_SHIFT),
+  STM32_CAP_SMS_TRG             = (6 << GTIM_SMCR_SMS_SHIFT),
+  STM32_CAP_SMS_EXT             = (7 << GTIM_SMCR_SMS_SHIFT),
+
+  /* Trigger selection */
+
+  STM32_CAP_TS_MASK             = (7 << GTIM_SMCR_TS_SHIFT),
+  STM32_CAP_TS_ITR0             = (0 << GTIM_SMCR_TS_SHIFT),
+  STM32_CAP_TS_ITR1             = (1 << GTIM_SMCR_TS_SHIFT),
+  STM32_CAP_TS_ITR2             = (2 << GTIM_SMCR_TS_SHIFT),
+  STM32_CAP_TS_ITR3             = (3 << GTIM_SMCR_TS_SHIFT),
+  STM32_CAP_TS_TI1FED           = (4 << GTIM_SMCR_TS_SHIFT),
+  STM32_CAP_TS_TI1FP1           = (5 << GTIM_SMCR_TS_SHIFT),
+  STM32_CAP_TS_TI2FP2           = (6 << GTIM_SMCR_TS_SHIFT),
+  STM32_CAP_TS_ETRF             = (7 << GTIM_SMCR_TS_SHIFT),
+
+  /* Master/Slave mode seting */
+
+  STM32_CAP_MSM_MASK            = (1 << 7)
+} stm32_cap_smc_cfg_t;
 
 /* Capture flags */
 
@@ -163,8 +183,9 @@ typedef enum
 
 struct stm32_cap_ops_s
 {
-  int  (*setclock)(struct stm32_cap_dev_s *dev, stm32_cap_clk_t clk,
+  int  (*setsmc)(struct stm32_cap_dev_s *dev, stm32_cap_smc_cfg_t cfg);
-                   uint32_t prescaler, uint32_t max);
+  int  (*setclock)(struct stm32_cap_dev_s *dev, uint32_t freq,
+                   uint32_t max);
   int  (*setchannel)(struct stm32_cap_dev_s *dev, uint8_t channel,
                      stm32_cap_ch_cfg_t cfg);
   uint32_t (*getcapture)(struct stm32_cap_dev_s *dev, uint8_t channel);
@@ -187,6 +208,27 @@ struct stm32_cap_dev_s *stm32_cap_init(int timer);
 
 int stm32_cap_deinit(struct stm32_cap_dev_s *dev);
 
+/****************************************************************************
+ * Name: stm32_cap_initialize
+ *
+ * Description:
+ *   Initialize one timer for use with the upper_level capture driver.
+ *
+ * Input Parameters:
+ *   timer - A number identifying the timer use.  The number of valid timer
+ *     IDs varies with the STM32 MCU and MCU family but is somewhere in
+ *     the range of {1,..,5 8,...,14}.
+ *
+ * Returned Value:
+ *   On success, a pointer to the STM32 lower half capture driver returned.
+ *   NULL is returned on any failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_CAPTURE
+struct cap_lowerhalf_s *stm32_cap_initialize(int timer);
+#endif
+
 #undef EXTERN
 #if defined(__cplusplus)
 }

arch/arm/src/stm32/stm32_tim.c

@@ -71,23 +71,28 @@
  */
 
 #if defined(CONFIG_STM32_TIM1_PWM) || defined (CONFIG_STM32_TIM1_ADC) || \
-    defined(CONFIG_STM32_TIM1_DAC) || defined(CONFIG_STM32_TIM1_QE)
+    defined(CONFIG_STM32_TIM1_DAC) || defined(CONFIG_STM32_TIM1_QE) || \
+    defined(CONFIG_STM32_TIM1_CAP)
 #  undef CONFIG_STM32_TIM1
 #endif
 #if defined(CONFIG_STM32_TIM2_PWM) || defined (CONFIG_STM32_TIM2_ADC) || \
-    defined(CONFIG_STM32_TIM2_DAC) || defined(CONFIG_STM32_TIM2_QE)
+    defined(CONFIG_STM32_TIM2_DAC) || defined(CONFIG_STM32_TIM2_QE) || \
+    defined(CONFIG_STM32_TIM2_CAP)
 #  undef CONFIG_STM32_TIM2
 #endif
 #if defined(CONFIG_STM32_TIM3_PWM) || defined (CONFIG_STM32_TIM3_ADC) || \
-    defined(CONFIG_STM32_TIM3_DAC) || defined(CONFIG_STM32_TIM3_QE)
+    defined(CONFIG_STM32_TIM3_DAC) || defined(CONFIG_STM32_TIM3_QE) || \
+    defined(CONFIG_STM32_TIM3_CAP)
 #  undef CONFIG_STM32_TIM3
 #endif
 #if defined(CONFIG_STM32_TIM4_PWM) || defined (CONFIG_STM32_TIM4_ADC) || \
-    defined(CONFIG_STM32_TIM4_DAC) || defined(CONFIG_STM32_TIM4_QE)
+    defined(CONFIG_STM32_TIM4_DAC) || defined(CONFIG_STM32_TIM4_QE) || \
+    defined(CONFIG_STM32_TIM4_CAP)
 #  undef CONFIG_STM32_TIM4
 #endif
 #if defined(CONFIG_STM32_TIM5_PWM) || defined (CONFIG_STM32_TIM5_ADC) || \
-    defined(CONFIG_STM32_TIM5_DAC) || defined(CONFIG_STM32_TIM5_QE)
+    defined(CONFIG_STM32_TIM5_DAC) || defined(CONFIG_STM32_TIM5_QE) || \
+    defined(CONFIG_STM32_TIM5_CAP)
 #  undef CONFIG_STM32_TIM5
 #endif
 #if defined(CONFIG_STM32_TIM6_PWM) || defined (CONFIG_STM32_TIM6_ADC) || \
@@ -99,31 +104,38 @@
 #  undef CONFIG_STM32_TIM7
 #endif
 #if defined(CONFIG_STM32_TIM8_PWM) || defined (CONFIG_STM32_TIM8_ADC) || \
-    defined(CONFIG_STM32_TIM8_DAC) || defined(CONFIG_STM32_TIM8_QE)
+    defined(CONFIG_STM32_TIM8_DAC) || defined(CONFIG_STM32_TIM8_QE) || \
+    defined(CONFIG_STM32_TIM8_CAP)
 #  undef CONFIG_STM32_TIM8
 #endif
 #if defined(CONFIG_STM32_TIM9_PWM) || defined (CONFIG_STM32_TIM9_ADC) || \
-    defined(CONFIG_STM32_TIM9_DAC) || defined(CONFIG_STM32_TIM9_QE)
+    defined(CONFIG_STM32_TIM9_DAC) || defined(CONFIG_STM32_TIM9_QE) || \
+    defined(CONFIG_STM32_TIM9_CAP)
 #  undef CONFIG_STM32_TIM9
 #endif
 #if defined(CONFIG_STM32_TIM10_PWM) || defined (CONFIG_STM32_TIM10_ADC) || \
-    defined(CONFIG_STM32_TIM10_DAC) || defined(CONFIG_STM32_TIM10_QE)
+    defined(CONFIG_STM32_TIM10_DAC) || defined(CONFIG_STM32_TIM10_QE) || \
+    defined(CONFIG_STM32_TIM10_CAP)
 #  undef CONFIG_STM32_TIM10
 #endif
 #if defined(CONFIG_STM32_TIM11_PWM) || defined (CONFIG_STM32_TIM11_ADC) || \
-    defined(CONFIG_STM32_TIM11_DAC) || defined(CONFIG_STM32_TIM11_QE)
+    defined(CONFIG_STM32_TIM11_DAC) || defined(CONFIG_STM32_TIM11_QE) || \
+    defined(CONFIG_STM32_TIM11_CAP)
 #  undef CONFIG_STM32_TIM11
 #endif
 #if defined(CONFIG_STM32_TIM12_PWM) || defined (CONFIG_STM32_TIM12_ADC) || \
-    defined(CONFIG_STM32_TIM12_DAC) || defined(CONFIG_STM32_TIM12_QE)
+    defined(CONFIG_STM32_TIM12_DAC) || defined(CONFIG_STM32_TIM12_QE) || \
+    defined(CONFIG_STM32_TIM12_CAP)
 #  undef CONFIG_STM32_TIM12
 #endif
 #if defined(CONFIG_STM32_TIM13_PWM) || defined (CONFIG_STM32_TIM13_ADC) || \
-    defined(CONFIG_STM32_TIM13_DAC) || defined(CONFIG_STM32_TIM13_QE)
+    defined(CONFIG_STM32_TIM13_DAC) || defined(CONFIG_STM32_TIM13_QE) || \
+    defined(CONFIG_STM32_TIM13_CAP)
 #  undef CONFIG_STM32_TIM13
 #endif
 #if defined(CONFIG_STM32_TIM14_PWM) || defined (CONFIG_STM32_TIM14_ADC) || \
-    defined(CONFIG_STM32_TIM14_DAC) || defined(CONFIG_STM32_TIM14_QE)
+    defined(CONFIG_STM32_TIM14_DAC) || defined(CONFIG_STM32_TIM14_QE) || \
+    defined(CONFIG_STM32_TIM14_CAP)
 #  undef CONFIG_STM32_TIM14
 #endif
 #if defined(CONFIG_STM32_TIM15_PWM) || defined (CONFIG_STM32_TIM15_ADC) || \