pwm driver hal'd

.cproject

@@ -146,7 +146,6 @@
 		<buildTargets>
 			<target name="all" path="software/source/test/firmware/kernel/list" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>all</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
@@ -154,7 +153,6 @@
 			</target>
 			<target name="clean" path="software/source/test/firmware/kernel/list" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>clean</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
@@ -162,6 +160,7 @@
 			</target>
 			<target name="distclean" path="software/source" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>distclean</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -217,7 +216,6 @@
 			</target>
 			<target name="all" path="software/test/firmware/kernel/list" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>all</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
@@ -249,7 +247,6 @@
 			</target>
 			<target name="distclean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>distclean</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
@@ -287,6 +284,14 @@
 				<useDefaultCommand>false</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="pwm test" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>TEST_APP=pwm BOARD=stm32f4-discovery DEBUG=y</buildArguments>
+				<buildTarget>test</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>false</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="msp430-ccrf example_radio_rx all" path="software/source/test" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>APP=example_radio_rx BOARD=msp430-ccrf DEBUG=y</buildArguments>
@@ -313,7 +318,6 @@
 			</target>
 			<target name="all" path="software/source/test/firmware/kernel/ringbuffer" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>all</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
@@ -321,7 +325,6 @@
 			</target>
 			<target name="clean" path="software/source/test/firmware/kernel/ringbuffer" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>clean</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>

source/firmware/arch/stm32f4xx/board/stm32f4-discovery/include/stm32f4-discovery.h

@@ -8,12 +8,12 @@
 
 #include <stddef.h>
 #include <stdint.h>
-#if 0
+
-#include "../../../driver/include/stm32f4_pwm.h"
-#include "pwm.h"
-#endif
 #include "stm32f4xx.h"
 
+#include "pwm.h"
+#include "stm32f4_pwm.h"
+
 #include "uart.h"
 #include "stm32f4_uart.h"
 #include "ringbuffer.h"
@@ -26,6 +26,7 @@
 #include "stm32f4_gpio.h"
 #include "driver.h"
 
+#if 0
 // GPIO_D12
 static const GPIO_InitTypeDef port_cfg_d12 = {
 		.Pin = GPIO_PIN_12,
@@ -48,7 +49,7 @@ static const struct driver gpio_d12 = {
 		DRIVER_TYPE_GPIO,
 		&__gpio_d12,
 };
-
+#endif
 
 // SYSTEM TICK
 static const enum stm32_sys_tick_time_base stm23_sys_tick_time_base =
@@ -65,46 +66,47 @@ static const struct loki_timer timer_1 = {
 		.fp = &timer_fp
 };
 
-#if 0
 // PWM CHANNEL 4
 /* apb1 clock = 84MHz */
 /* period_reg = src_clk / presc   / cnt_clk     */
 /*       4199 = 84MHZ   / (0 + 1) / 20kHz   - 1 */
-static const TIM_TimeBaseInitTypeDef timer_4_cfg = {
+static TIM_HandleTypeDef tim4_handle = {
-		.TIM_RepetitionCounter = 0x0000,
+		.Instance = TIM4,
-		.TIM_Prescaler = 0,
+		.Init.Prescaler = 0,
-		.TIM_ClockDivision = TIM_CKD_DIV1,
+		.Init.CounterMode = TIM_COUNTERMODE_UP,
-		.TIM_CounterMode = TIM_CounterMode_Up,
+		.Init.Period = 4199,
-		.TIM_Period = 4199
+		.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1,
+		.Init.RepetitionCounter = 0,
 };
 
-static const TIM_OCInitTypeDef t4_output_compare_cfg = {
+static TIM_OC_InitTypeDef t4_output_compare_cfg = {
-		.TIM_OutputNState = TIM_OutputNState_Disable,
+		.OCMode = TIM_OCMODE_PWM1,
-		.TIM_OCNPolarity = TIM_OCPolarity_High,
+		.Pulse = 0,
-		.TIM_OCIdleState = TIM_OCIdleState_Reset,
+		.OCPolarity = TIM_OCPOLARITY_HIGH,
-		.TIM_OCNIdleState = TIM_OCNIdleState_Set,
+		.OCNPolarity = TIM_OCNPOLARITY_HIGH,
-		.TIM_OCMode = TIM_OCMode_PWM1,
+		.OCFastMode = TIM_OCFAST_DISABLE,
-		.TIM_OCPolarity = TIM_OCPolarity_High,
+		.OCIdleState = TIM_OCIDLESTATE_SET,
-		.TIM_OutputState = TIM_OutputState_Enable,
+		.OCNIdleState = TIM_OCNIDLESTATE_SET
-		.TIM_Pulse = 0,
 };
 
 static const GPIO_InitTypeDef port_cfg_D15 = {
-		.GPIO_Pin = GPIO_Pin_15,
+		.Pin = GPIO_PIN_15,
-		.GPIO_Mode = GPIO_Mode_AF,
+		.Mode = GPIO_MODE_AF_PP,
-		.GPIO_OType = GPIO_OType_PP,
+		.Speed = GPIO_SPEED_FREQ_HIGH,
-		.GPIO_PuPd = GPIO_PuPd_UP,
+		.Pull = GPIO_PULLUP,
-		.GPIO_Speed = GPIO_Speed_100MHz,
+		.Alternate = GPIO_AF2_TIM4,
+};
+
+static const struct stm32f4_gpio t4c4_gpio = {
+		.port = GPIOD,
+		.pin = &port_cfg_D15,
 };
 
 static struct stm32f4_pwm str32f4_pwm_4 = {
-		.timer = TIM4,
+		.pwm_gpio = &t4c4_gpio,
-		.timer_cfg = &timer_4_cfg,
+		.timer_handle = &tim4_handle,
 		.output_compare_cfg = &t4_output_compare_cfg,
-		.port = GPIOD,
+		.channel = TIM_CHANNEL_4,
-		.pin_src = GPIO_PinSource15,
-		.port_cfg = &port_cfg_D15,
-		.channel = channel_4,
 };
 
 static const struct pwm pwm_ch4 = {
@@ -120,25 +122,25 @@ const struct driver pwm_4 = {
 		DRIVER_TYPE_PWM,
 		&pwm_ch4,
 };
-#endif
+
-#if 0
 // PWM Channel 3
 static const GPIO_InitTypeDef port_cfg_D14 = {
-		.GPIO_Pin = GPIO_Pin_14,
+		.Pin = GPIO_PIN_14,
-		.GPIO_Mode = GPIO_Mode_AF,
+		.Mode = GPIO_MODE_AF_PP,
-		.GPIO_OType = GPIO_OType_PP,
+		.Speed = GPIO_SPEED_FREQ_HIGH,
-		.GPIO_PuPd = GPIO_PuPd_UP,
+		.Pull = GPIO_PULLUP,
-		.GPIO_Speed = GPIO_Speed_100MHz,
+		.Alternate = GPIO_AF2_TIM4,
+};
+static const struct stm32f4_gpio stm32f4_pwm_t4c3_gpio = {
+		.port = GPIOD,
+		.pin = &port_cfg_D14,
 };
 
 static struct stm32f4_pwm str32f4_pwm_3 = {
-		.timer = TIM4,
+		.pwm_gpio = &stm32f4_pwm_t4c3_gpio,
-		.timer_cfg = &timer_4_cfg,
+		.timer_handle = &tim4_handle,
 		.output_compare_cfg = &t4_output_compare_cfg,
-		.port = GPIOD,
+		.channel = TIM_CHANNEL_3,
-		.pin_src = GPIO_PinSource14,
-		.port_cfg = &port_cfg_D14,
-		.channel = channel_3,
 };
 
 static const struct pwm pwm_ch3 = {
@@ -154,25 +156,25 @@ const struct driver pwm_3 = {
 		DRIVER_TYPE_PWM,
 		&pwm_ch3,
 };
-#endif
+
-#if 0
 // PWM Channel 2
 static const GPIO_InitTypeDef port_cfg_D13 = {
-		.GPIO_Pin = GPIO_Pin_13,
+		.Pin = GPIO_PIN_13,
-		.GPIO_Mode = GPIO_Mode_AF,
+		.Mode = GPIO_MODE_AF_PP,
-		.GPIO_OType = GPIO_OType_PP,
+		.Speed = GPIO_SPEED_FREQ_HIGH,
-		.GPIO_PuPd = GPIO_PuPd_UP,
+		.Pull = GPIO_PULLUP,
-		.GPIO_Speed = GPIO_Speed_100MHz,
+		.Alternate = GPIO_AF2_TIM4,
+};
+static const struct stm32f4_gpio stm32f4_pwm_t4c2_gpio = {
+		.port = GPIOD,
+		.pin = &port_cfg_D13,
 };
 
 static struct stm32f4_pwm str32f4_pwm_2 = {
-		.timer = TIM4,
+		.pwm_gpio = &stm32f4_pwm_t4c2_gpio,
-		.timer_cfg = &timer_4_cfg,
+		.timer_handle = &tim4_handle,
 		.output_compare_cfg = &t4_output_compare_cfg,
-		.port = GPIOD,
+		.channel = TIM_CHANNEL_2,
-		.pin_src = GPIO_PinSource13,
-		.port_cfg = &port_cfg_D13,
-		.channel = channel_2,
 };
 
 static const struct pwm pwm_ch2 = {
@@ -188,25 +190,25 @@ const struct driver pwm_2 = {
 		DRIVER_TYPE_PWM,
 		&pwm_ch2,
 };
-#endif
+
-#if 0
 // PWM Channel 1
 static const GPIO_InitTypeDef port_cfg_D12 = {
-		.GPIO_Pin = GPIO_Pin_12,
+		.Pin = GPIO_PIN_12,
-		.GPIO_Mode = GPIO_Mode_AF,
+		.Mode = GPIO_MODE_AF_PP,
-		.GPIO_OType = GPIO_OType_PP,
+		.Speed = GPIO_SPEED_FREQ_HIGH,
-		.GPIO_PuPd = GPIO_PuPd_UP,
+		.Pull = GPIO_PULLUP,
-		.GPIO_Speed = GPIO_Speed_100MHz,
+		.Alternate = GPIO_AF2_TIM4,
+};
+static const struct stm32f4_gpio stm32f4_pwm_t4c1_gpio = {
+		.port = GPIOD,
+		.pin = &port_cfg_D12,
 };
 
 static struct stm32f4_pwm str32f4_pwm_1 = {
-		.timer = TIM4,
+		.pwm_gpio = &stm32f4_pwm_t4c1_gpio,
-		.timer_cfg = &timer_4_cfg,
+		.timer_handle = &tim4_handle,
 		.output_compare_cfg = &t4_output_compare_cfg,
-		.port = GPIOD,
+		.channel = TIM_CHANNEL_1,
-		.pin_src = GPIO_PinSource12,
-		.port_cfg = &port_cfg_D12,
-		.channel = channel_1,
 };
 
 static const struct pwm pwm_ch1 = {
@@ -222,7 +224,7 @@ const struct driver pwm_1 = {
 		DRIVER_TYPE_PWM,
 		&pwm_ch1,
 };
-#endif
+
 // UART 1
 static const GPIO_InitTypeDef port_cfg_uart1 = {
 		.Pin = GPIO_PIN_6 | GPIO_PIN_7,

source/firmware/arch/stm32f4xx/driver/include/stm32f4_pwm.h

@@ -0,0 +1,32 @@
+/*
+ * stm32f4_pwm.h
+ *
+ *  Created on: Aug 9, 2016
+ *      Author: tkl
+ */
+
+#ifndef SOURCE_FIRMWARE_ARCH_STM32F4XX_DRIVER_INCLUDE_STM32F4_PWM_H_
+#define SOURCE_FIRMWARE_ARCH_STM32F4XX_DRIVER_INCLUDE_STM32F4_PWM_H_
+
+#pragma pack(push)
+#pragma pack(1)
+struct stm32f4_pwm {
+	const struct stm32f4_gpio *pwm_gpio;
+	TIM_HandleTypeDef *timer_handle;
+	TIM_OC_InitTypeDef *output_compare_cfg;
+	uint32_t channel;
+};
+#pragma pack(pop)
+
+
+int stm32f4_pwm_open(const void *pwm);
+int stm32f4_pwm_close(const void *pwm);
+int stm32f4_pwm_set_duty_cycle(const void *pwm, unsigned int duty_cycle_percent);
+
+static const struct pwm_fp stm32f4_pwm_fp = {
+		.open = stm32f4_pwm_open,
+		.close = stm32f4_pwm_close,
+		.set_duty_cycle = stm32f4_pwm_set_duty_cycle,
+};
+
+#endif /* SOURCE_FIRMWARE_ARCH_STM32F4XX_DRIVER_INCLUDE_STM32F4_PWM_H_ */

source/firmware/arch/stm32f4xx/driver/stm32f4_pwm._c

@@ -1,113 +0,0 @@
-/*
-  * stm32f4_pwm.c
- *
- *  Created on: Aug 9, 2016
- *      Author: tkl
- */
-#include <stdint.h>
-#include <stddef.h>
-
-#include "stm32f4xx.h"
-
-#include "pwm.h"
-#include "stm32f4_pwm.h"
-
-struct stm32f4_pwm_object {
-	uint8_t used_channels;
-	uint32_t channel_1_max_period;
-	uint32_t channel_2_max_period;
-	uint32_t channel_3_max_period;
-	uint32_t channel_4_max_period;
-};
-
-static struct stm32f4_pwm_object stm32f4_pwm_object = {
-		.used_channels = 0,
-		.channel_1_max_period = 0,
-		.channel_2_max_period = 0,
-		.channel_3_max_period = 0,
-		.channel_4_max_period = 0,
-};
-
-int stm32f4_pwm_open(const void *pwm)
-{
-	if(NULL == pwm)
-		return -1;
-	struct stm32f4_pwm *this = (struct stm32f4_pwm *)pwm;
-	uint32_t clk_ahb_timer = 0, clk_ahb_gpio = 0;
-	uint8_t gpio_af_timer = 0;
-	if(this->timer == TIM4) {
-		clk_ahb_timer = RCC_APB1Periph_TIM4;
-		gpio_af_timer = GPIO_AF_TIM4;
-	}
-	RCC_APB1PeriphClockCmd(clk_ahb_timer, ENABLE);
-	if(this->port == GPIOD) {
-		clk_ahb_gpio = RCC_AHB1Periph_GPIOD;
-	}
-	RCC_AHB1PeriphClockCmd(clk_ahb_gpio, ENABLE);
-	GPIO_Init(this->port, (GPIO_InitTypeDef *)this->port_cfg);
-	GPIO_PinAFConfig(this->port, this->pin_src, gpio_af_timer);
-
-	TIM_TimeBaseInit(this->timer, (TIM_TimeBaseInitTypeDef *)this->timer_cfg);
-
-	switch(this->channel) {
-	case channel_1:
-		TIM_OC1Init(this->timer, (TIM_OCInitTypeDef *)this->output_compare_cfg);
-		TIM_OC1PreloadConfig(this->timer, TIM_OCPreload_Enable);
-		stm32f4_pwm_object.channel_1_max_period = this->timer_cfg->TIM_Period + 1;
-		break;
-	case channel_2:
-		TIM_OC2Init(this->timer, (TIM_OCInitTypeDef *)this->output_compare_cfg);
-		TIM_OC2PreloadConfig(this->timer, TIM_OCPreload_Enable);
-		stm32f4_pwm_object.channel_2_max_period = this->timer_cfg->TIM_Period + 1;
-		break;
-	case channel_3:
-		TIM_OC3Init(this->timer, (TIM_OCInitTypeDef *)this->output_compare_cfg);
-		TIM_OC3PreloadConfig(this->timer, TIM_OCPreload_Enable);
-		stm32f4_pwm_object.channel_3_max_period = this->timer_cfg->TIM_Period + 1;
-		break;
-	case channel_4:
-		TIM_OC4Init(this->timer, (TIM_OCInitTypeDef *)this->output_compare_cfg);
-		TIM_OC4PreloadConfig(this->timer, TIM_OCPreload_Enable);
-		stm32f4_pwm_object.channel_4_max_period = this->timer_cfg->TIM_Period + 1;
-		break;
-	}
-	TIM_ARRPreloadConfig(this->timer, ENABLE);
-	TIM_Cmd(this->timer, ENABLE);
-	stm32f4_pwm_object.used_channels++;
-	return 0;
-}
-
-int stm32f4_pwm_close(const void *pwm)
-{
-	if(NULL == pwm)
-		return -1;
-	struct stm32f4_pwm *this = (struct stm32f4_pwm *)pwm;
-	stm32f4_pwm_set_duty_cycle(pwm, 0);
-	stm32f4_pwm_object.used_channels--;
-	if(stm32f4_pwm_object.used_channels == 0) {
-		TIM_Cmd(this->timer, DISABLE);
-	}
-	return 0;
-}
-
-int stm32f4_pwm_set_duty_cycle(const void *pwm, unsigned int duty_cycle_percent)
-{
-	if(NULL == pwm)
-		return -1;
-	struct stm32f4_pwm *this = (struct stm32f4_pwm *)pwm;
-	switch(this->channel) {
-	case channel_1:
-		TIM_SetCompare1(this->timer, stm32f4_pwm_object.channel_1_max_period * duty_cycle_percent / 100);
-		break;
-	case channel_2:
-		TIM_SetCompare2(this->timer, stm32f4_pwm_object.channel_2_max_period * duty_cycle_percent / 100);
-		break;
-	case channel_3:
-		TIM_SetCompare3(this->timer, stm32f4_pwm_object.channel_3_max_period * duty_cycle_percent / 100);
-		break;
-	case channel_4:
-		TIM_SetCompare4(this->timer, stm32f4_pwm_object.channel_4_max_period * duty_cycle_percent / 100);
-		break;
-	}
-	return 0;
-}

source/firmware/arch/stm32f4xx/driver/stm32f4_pwm.c

@@ -0,0 +1,83 @@
+/*
+  * stm32f4_pwm.c
+ *
+ *  Created on: Aug 9, 2016
+ *      Author: tkl
+ */
+#include <stdint.h>
+#include <stddef.h>
+
+#include "stm32f4xx.h"
+
+#include "gpio.h"
+#include "stm32f4_gpio.h"
+
+#include "pwm.h"
+#include "stm32f4_pwm.h"
+
+#pragma pack(push)
+#pragma pack(1)
+struct stm32f4_pwm_object {
+	uint8_t used_channels;
+	uint32_t channel_1_max_period;
+	uint32_t channel_2_max_period;
+	uint32_t channel_3_max_period;
+	uint32_t channel_4_max_period;
+};
+#pragma pack(pop)
+
+int stm32f4_pwm_open(const void *pwm)
+{
+	if(NULL == pwm)
+		return -1;
+	struct stm32f4_pwm *this = (struct stm32f4_pwm *)pwm;
+	stm32f4_gpio_open(this->pwm_gpio);
+	if(this->timer_handle->Instance == TIM4) {
+		__HAL_RCC_TIM4_CLK_ENABLE();
+	}
+	HAL_TIM_PWM_Init(this->timer_handle);
+	HAL_TIM_PWM_ConfigChannel(this->timer_handle, this->output_compare_cfg, this->channel);
+
+	TIM_MasterConfigTypeDef sMasterConfig;
+	sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+	sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+	HAL_TIMEx_MasterConfigSynchronization(this->timer_handle, &sMasterConfig);
+
+	TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig;
+	sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
+	sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
+	sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
+	sBreakDeadTimeConfig.DeadTime = 0;
+	sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
+	sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
+	sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+	HAL_TIMEx_ConfigBreakDeadTime(this->timer_handle, &sBreakDeadTimeConfig);
+
+
+	HAL_TIM_Base_Start(this->timer_handle);
+	HAL_TIM_PWM_Start(this->timer_handle, this->channel);
+	return 0;
+}
+
+int stm32f4_pwm_close(const void *pwm)
+{
+	if(NULL == pwm)
+		return -1;
+	stm32f4_pwm_set_duty_cycle(pwm, 0);
+	struct stm32f4_pwm *this = (struct stm32f4_pwm *)pwm;
+	HAL_TIM_Base_Stop(this->timer_handle);
+	HAL_TIM_PWM_Stop(this->timer_handle, this->channel);
+
+	return 0;
+}
+
+int stm32f4_pwm_set_duty_cycle(const void *pwm, unsigned int duty_cycle_percent)
+{
+	if(NULL == pwm)
+		return -1;
+
+	struct stm32f4_pwm *this = (struct stm32f4_pwm *)pwm;
+	__HAL_TIM_SET_COMPARE(this->timer_handle, this->channel, this->timer_handle->Init.Period * duty_cycle_percent / 100);
+
+	return 0;
+}

source/firmware/arch/stm32f4xx/lib/system/src/stm32f4-hal/stm32f4xx_hal_tim.c

@@ -2963,7 +2963,7 @@ HAL_StatusTypeDef HAL_TIM_OC_ConfigChannel(TIM_HandleTypeDef *htim, TIM_OC_InitT
 {
   /* Check the parameters */ 
   assert_param(IS_TIM_CHANNELS(Channel)); 
-  assert_param(IS_TIM_OC_MODE(sConfig->OCMode));
+  assert_param(IS_TIM_OC_MODE(sConfig->OCMode) || IS_TIM_PWM_MODE(sConfig->OCMode));
   assert_param(IS_TIM_OC_POLARITY(sConfig->OCPolarity));
   
   /* Check input state */

source/test/pwm/main.c

@@ -0,0 +1,53 @@
+/*
+ * main.c
+ *
+ *  Created on: Aug 2, 2016
+ *      Author: tkl
+ */
+
+#include <stdbool.h>
+
+#include "driver.h"
+#include "board.h"
+#include "stack.h"
+#include "queue.h"
+#include "kernel.h"
+#include "driver.h"
+#include "list.h"
+#include "shell.h"
+
+#define TH_STACK_SIZE  256
+stack_t th_stack[TH_STACK_SIZE];
+struct thread_context th_ctx;
+static void th_func(void *arg)
+{
+	drv_open(&pwm_1);
+	drv_open(&pwm_2);
+	drv_open(&pwm_3);
+	drv_open(&pwm_4);
+	while(1) {
+		for(unsigned int duty = 0; duty < 100; duty++) {
+			drv_ioctl(&pwm_1, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+			drv_ioctl(&pwm_2, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+			drv_ioctl(&pwm_3, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+			drv_ioctl(&pwm_4, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+			sleep_ms(10);
+		}
+		for(unsigned int duty = 98; duty > 0; duty--) {
+			drv_ioctl(&pwm_1, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+			drv_ioctl(&pwm_2, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+			drv_ioctl(&pwm_3, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+			drv_ioctl(&pwm_4, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+			sleep_ms(10);
+		}
+	}
+}
+
+int main(void)
+{
+	board_init();
+	thread_create(&th_ctx, th_stack, TH_STACK_SIZE, th_func, NULL, THREAD_PRIO_LOW);
+	schedule_start();
+
+	return 0;
+}

source/test/pwm/pwm.mk

@@ -0,0 +1 @@
+SRC_DIR += source/test/pwm