[stm32f072 nucleo] support pwm for arduino (#5693)

bsp/apm32/apm32f103xe-minibroard/board/Kconfig

@@ -147,7 +147,7 @@ menu "On-chip Peripheral Drivers"
         select RT_USING_PWM
         if BSP_USING_PWM
         menuconfig BSP_USING_PWM3
-            bool "Enable timer3 output pwm"
+            bool "Enable timer3 output PWM"
             default n
             if BSP_USING_PWM3
                 config BSP_USING_PWM3_CH1

bsp/hc32f4a0/board/Kconfig

@@ -240,7 +240,7 @@ menu "On-chip Peripheral Drivers"
         select RT_USING_PWM
         if BSP_USING_PWM
         menuconfig BSP_USING_PWM1
-            bool "Enable timer1 output pwm"
+            bool "Enable timer1 output PWM"
             default n
             if BSP_USING_PWM1
                 config BSP_USING_PWM1_CH1
@@ -261,7 +261,7 @@ menu "On-chip Peripheral Drivers"
             endif
 
         menuconfig BSP_USING_PWM2
-            bool "Enable timer2 output pwm"
+            bool "Enable timer2 output PWM"
             default n
             if BSP_USING_PWM2
                 config BSP_USING_PWM2_CH1

bsp/stm32/libraries/HAL_Drivers/config/f0/pwm_config.h

@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2006-2021, RT-Thread Development Team
+ * Copyright (c) 2006-2022, RT-Thread Development Team
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -61,6 +61,28 @@ extern "C" {
 #endif /* PWM5_CONFIG */
 #endif /* BSP_USING_PWM5 */
 
+#ifdef BSP_USING_PWM16
+#ifndef PWM16_CONFIG
+#define PWM16_CONFIG                             \
+    {                                           \
+       .tim_handle.Instance     = TIM16,         \
+       .name                    = "pwm16",       \
+       .channel                 = 0             \
+    }
+#endif /* PWM16_CONFIG */
+#endif /* BSP_USING_PWM16 */
+
+#ifdef BSP_USING_PWM17
+#ifndef PWM17_CONFIG
+#define PWM17_CONFIG                             \
+    {                                           \
+       .tim_handle.Instance     = TIM17,         \
+       .name                    = "pwm17",       \
+       .channel                 = 0             \
+    }
+#endif /* PWM17_CONFIG */
+#endif /* BSP_USING_PWM17 */
+
 #ifdef __cplusplus
 }
 #endif

bsp/stm32/libraries/HAL_Drivers/drv_pwm.c

@@ -587,6 +587,12 @@ static void pwm_get_channel(void)
 #ifdef BSP_USING_PWM12_CH2
     stm32_pwm_obj[PWM12_INDEX].channel |= 1 << 1;
 #endif
+#ifdef BSP_USING_PWM16_CH1
+    stm32_pwm_obj[PWM16_INDEX].channel |= 1 << 0;
+#endif
+#ifdef BSP_USING_PWM17_CH1
+    stm32_pwm_obj[PWM17_INDEX].channel |= 1 << 0;
+#endif
 }
 
 static int stm32_pwm_init(void)

bsp/stm32/libraries/templates/stm32l1xx/board/Kconfig

@@ -99,12 +99,12 @@ menu "On-chip Peripheral Drivers"
         endif
 
     menuconfig BSP_USING_PWM
-        bool "Enable pwm"
+        bool "Enable PWM"
         default n
         select RT_USING_PWM
         if BSP_USING_PWM
         menuconfig BSP_USING_PWM3
-            bool "Enable timer3 output pwm"
+            bool "Enable timer3 output PWM"
             default n
             if BSP_USING_PWM3
                 config BSP_USING_PWM3_CH1

bsp/stm32/stm32f072-st-nucleo/applications/arduino/pins_arduino.c

@@ -30,8 +30,8 @@ const pin_map_t pin_map_table[]=
     {D7, GET_PIN(A,8)},
     {D8, GET_PIN(A,9)},
     {D9, GET_PIN(C,7), "pwm3", 2}, /* PWM */
-    {D10, GET_PIN(B,6)},
-    {D11, GET_PIN(A,7)},
+    {D10, GET_PIN(B,6), "pwm16", 1}, /* PWM */
+    {D11, GET_PIN(A,7), "pwm17", 1}, /* PWM */
     {D12, GET_PIN(A,6)},
     {D13, GET_PIN(A,5)},
     {D14, GET_PIN(B,9)},

bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/CubeMX_Config.ioc

@@ -9,8 +9,10 @@ Mcu.IP2=RCC
 Mcu.IP3=SYS
 Mcu.IP4=TIM2
 Mcu.IP5=TIM3
-Mcu.IP6=USART2
-Mcu.IPNb=7
+Mcu.IP6=TIM16
+Mcu.IP7=TIM17
+Mcu.IP8=USART2
+Mcu.IPNb=9
 Mcu.Name=STM32F072R(8-B)Tx
 Mcu.Package=LQFP64
 Mcu.Pin0=PC13
@@ -18,17 +20,21 @@ Mcu.Pin1=PC14-OSC32_IN
 Mcu.Pin10=PA3
 Mcu.Pin11=PA4
 Mcu.Pin12=PA5
-Mcu.Pin13=PB0
-Mcu.Pin14=PB10
-Mcu.Pin15=PC7
-Mcu.Pin16=PA13
-Mcu.Pin17=PA14
-Mcu.Pin18=PB3
-Mcu.Pin19=PB4
+Mcu.Pin13=PA7
+Mcu.Pin14=PB0
+Mcu.Pin15=PB10
+Mcu.Pin16=PC7
+Mcu.Pin17=PA13
+Mcu.Pin18=PA14
+Mcu.Pin19=PB3
 Mcu.Pin2=PC15-OSC32_OUT
-Mcu.Pin20=VP_SYS_VS_Systick
-Mcu.Pin21=VP_TIM2_VS_ClockSourceINT
-Mcu.Pin22=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin20=PB4
+Mcu.Pin21=PB6
+Mcu.Pin22=VP_SYS_VS_Systick
+Mcu.Pin23=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin24=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin25=VP_TIM16_VS_ClockSourceINT
+Mcu.Pin26=VP_TIM17_VS_ClockSourceINT
 Mcu.Pin3=PF0-OSC_IN
 Mcu.Pin4=PF1-OSC_OUT
 Mcu.Pin5=PC0
@@ -36,12 +42,12 @@ Mcu.Pin6=PC1
 Mcu.Pin7=PA0
 Mcu.Pin8=PA1
 Mcu.Pin9=PA2
-Mcu.PinsNb=23
+Mcu.PinsNb=27
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F072RBTx
-MxCube.Version=5.2.0
-MxDb.Version=DB.5.0.20
+MxCube.Version=6.5.0
+MxDb.Version=DB.6.0.50
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
 NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
@@ -90,6 +96,8 @@ PA5.GPIO_PuPd=GPIO_NOPULL
 PA5.GPIO_Speed=GPIO_SPEED_FREQ_LOW
 PA5.Locked=true
 PA5.Signal=GPIO_Output
+PA7.Locked=true
+PA7.Signal=S_TIM17_CH1
 PB0.Locked=true
 PB0.Mode=IN8
 PB0.Signal=ADC_IN8
@@ -99,6 +107,9 @@ PB3.Locked=true
 PB3.Signal=S_TIM2_CH2
 PB4.Locked=true
 PB4.Signal=S_TIM3_CH1
+PB6.Locked=true
+PB6.Mode=PWM Generation1 CH1N
+PB6.Signal=TIM16_CH1N
 PC0.Locked=true
 PC0.Mode=IN10
 PC0.Signal=ADC_IN10
@@ -132,7 +143,7 @@ ProjectManager.CustomerFirmwarePackage=
 ProjectManager.DefaultFWLocation=true
 ProjectManager.DeletePrevious=true
 ProjectManager.DeviceId=STM32F072RBTx
-ProjectManager.FirmwarePackage=STM32Cube FW_F0 V1.10.0
+ProjectManager.FirmwarePackage=STM32Cube FW_F0 V1.11.3
 ProjectManager.FreePins=false
 ProjectManager.HalAssertFull=false
 ProjectManager.HeapSize=0x200
@@ -150,7 +161,7 @@ ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=MDK-ARM V5
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_USART2_UART_Init-USART2-false-HAL-true,4-MX_ADC_Init-ADC-false-HAL-true,5-MX_TIM2_Init-TIM2-false-HAL-true,6-MX_TIM3_Init-TIM3-false-HAL-true
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_USART2_UART_Init-USART2-false-HAL-true,4-MX_ADC_Init-ADC-false-HAL-true,5-MX_TIM2_Init-TIM2-false-HAL-true,6-MX_TIM3_Init-TIM3-false-HAL-true,7-MX_TIM16_Init-TIM16-false-HAL-true,8-MX_TIM17_Init-TIM17-false-HAL-true
 RCC.AHBFreq_Value=48000000
 RCC.APB1Freq_Value=48000000
 RCC.APB1TimFreq_Value=48000000
@@ -175,6 +186,8 @@ RCC.USART1Freq_Value=48000000
 RCC.USART2Freq_Value=48000000
 SH.GPXTI13.0=GPIO_EXTI13
 SH.GPXTI13.ConfNb=1
+SH.S_TIM17_CH1.0=TIM17_CH1,Output Compare1 CH1
+SH.S_TIM17_CH1.ConfNb=1
 SH.S_TIM2_CH2.0=TIM2_CH2,PWM Generation2 CH2
 SH.S_TIM2_CH2.ConfNb=1
 SH.S_TIM2_CH3.0=TIM2_CH3,PWM Generation3 CH3
@@ -183,6 +196,10 @@ SH.S_TIM3_CH1.0=TIM3_CH1,PWM Generation1 CH1
 SH.S_TIM3_CH1.ConfNb=1
 SH.S_TIM3_CH2.0=TIM3_CH2,PWM Generation2 CH2
 SH.S_TIM3_CH2.ConfNb=1
+TIM16.Channel=TIM_CHANNEL_1
+TIM16.IPParameters=Channel
+TIM17.Channel=TIM_CHANNEL_1
+TIM17.IPParameters=Channel
 TIM2.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
 TIM2.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
 TIM2.IPParameters=Channel-PWM Generation3 CH3,Channel-PWM Generation2 CH2
@@ -194,6 +211,10 @@ USART2.VirtualMode=VM_ASYNC
 USART2.VirtualMode-Asynchronous=VM_ASYNC
 VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick
+VP_TIM16_VS_ClockSourceINT.Mode=Enable_Timer
+VP_TIM16_VS_ClockSourceINT.Signal=TIM16_VS_ClockSourceINT
+VP_TIM17_VS_ClockSourceINT.Mode=Enable_Timer
+VP_TIM17_VS_ClockSourceINT.Signal=TIM17_VS_ClockSourceINT
 VP_TIM2_VS_ClockSourceINT.Mode=Internal
 VP_TIM2_VS_ClockSourceINT.Signal=TIM2_VS_ClockSourceINT
 VP_TIM3_VS_ClockSourceINT.Mode=Internal

bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Inc/main.h

@@ -101,5 +101,3 @@ void Error_Handler(void);
 #endif
 
 #endif /* __MAIN_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Inc/stm32f0xx_hal_conf.h

@@ -1,3 +1,4 @@
+/* USER CODE BEGIN Header */
 /**
   ******************************************************************************
   * @file    stm32f0xx_hal_conf.h
@@ -5,32 +6,16 @@
   ******************************************************************************
   * @attention
   *
-  * <h2><center>&copy; COPYRIGHT(c) 2022 STMicroelectronics</center></h2>
+  * Copyright (c) 2016 STMicroelectronics.
+  * All rights reserved.
   *
-  * 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 of STMicroelectronics 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 HOLDER 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.
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
   *
   ******************************************************************************
   */
+/* USER CODE END Header */
 
 /* Define to prevent recursive inclusion -------------------------------------*/
 #ifndef __STM32F0xx_HAL_CONF_H
@@ -48,7 +33,7 @@
   * @brief This is the list of modules to be used in the HAL driver
   */
 #define HAL_MODULE_ENABLED
-#define HAL_ADC_MODULE_ENABLED
+  #define HAL_ADC_MODULE_ENABLED
 /*#define HAL_CRYP_MODULE_ENABLED   */
 /*#define HAL_CAN_MODULE_ENABLED   */
 /*#define HAL_CEC_MODULE_ENABLED   */
@@ -72,11 +57,11 @@
 /*#define HAL_SMBUS_MODULE_ENABLED   */
 /*#define HAL_WWDG_MODULE_ENABLED   */
 /*#define HAL_PCD_MODULE_ENABLED   */
-/*#define HAL_EXTI_MODULE_ENABLED   */
 #define HAL_CORTEX_MODULE_ENABLED
 #define HAL_DMA_MODULE_ENABLED
 #define HAL_FLASH_MODULE_ENABLED
 #define HAL_GPIO_MODULE_ENABLED
+#define HAL_EXTI_MODULE_ENABLED
 #define HAL_PWR_MODULE_ENABLED
 #define HAL_RCC_MODULE_ENABLED
 #define HAL_I2C_MODULE_ENABLED
@@ -129,7 +114,7 @@
   * @brief Internal High Speed oscillator for USB (HSI48) value.
   */
 #if !defined  (HSI48_VALUE)
-#define HSI48_VALUE ((uint32_t)48000000) /*!< Value of the Internal High Speed oscillator for USB in Hz.
+  #define HSI48_VALUE ((uint32_t)48000000) /*!< Value of the Internal High Speed oscillator for USB in Hz.
                                              The real value may vary depending on the variations
                                              in voltage and temperature.  */
 #endif /* HSI48_VALUE */
@@ -138,7 +123,7 @@
   * @brief Internal Low Speed oscillator (LSI) value.
   */
 #if !defined  (LSI_VALUE)
- #define LSI_VALUE  ((uint32_t)40000)
+  #define LSI_VALUE  ((uint32_t)40000)
 #endif /* LSI_VALUE */                      /*!< Value of the Internal Low Speed oscillator in Hz
                                              The real value may vary depending on the variations
                                              in voltage and temperature.  */
@@ -146,9 +131,12 @@
   * @brief External Low Speed oscillator (LSI) value.
   */
 #if !defined  (LSE_VALUE)
- #define LSE_VALUE  ((uint32_t)32768)    /*!< Value of the External Low Speed oscillator in Hz */
+  #define LSE_VALUE  ((uint32_t)32768)    /*!< Value of the External Low Speed oscillator in Hz */
 #endif /* LSE_VALUE */
 
+/**
+  * @brief Time out for LSE start up value in ms.
+  */
 #if !defined  (LSE_STARTUP_TIMEOUT)
   #define LSE_STARTUP_TIMEOUT    ((uint32_t)5000)   /*!< Time out for LSE start up, in ms */
 #endif /* LSE_STARTUP_TIMEOUT */
@@ -168,6 +156,27 @@
 #define  PREFETCH_ENABLE              1
 #define  INSTRUCTION_CACHE_ENABLE     0
 #define  DATA_CACHE_ENABLE            0
+#define  USE_SPI_CRC                     0U
+
+#define  USE_HAL_ADC_REGISTER_CALLBACKS         0U /* ADC register callback disabled       */
+#define  USE_HAL_CAN_REGISTER_CALLBACKS         0U /* CAN register callback disabled       */
+#define  USE_HAL_COMP_REGISTER_CALLBACKS        0U /* COMP register callback disabled      */
+#define  USE_HAL_CEC_REGISTER_CALLBACKS         0U /* CEC register callback disabled       */
+#define  USE_HAL_DAC_REGISTER_CALLBACKS         0U /* DAC register callback disabled       */
+#define  USE_HAL_I2C_REGISTER_CALLBACKS         0U /* I2C register callback disabled       */
+#define  USE_HAL_SMBUS_REGISTER_CALLBACKS       0U /* SMBUS register callback disabled     */
+#define  USE_HAL_UART_REGISTER_CALLBACKS        0U /* UART register callback disabled      */
+#define  USE_HAL_USART_REGISTER_CALLBACKS       0U /* USART register callback disabled     */
+#define  USE_HAL_IRDA_REGISTER_CALLBACKS        0U /* IRDA register callback disabled      */
+#define  USE_HAL_SMARTCARD_REGISTER_CALLBACKS   0U /* SMARTCARD register callback disabled */
+#define  USE_HAL_WWDG_REGISTER_CALLBACKS        0U /* WWDG register callback disabled      */
+#define  USE_HAL_RTC_REGISTER_CALLBACKS         0U /* RTC register callback disabled       */
+#define  USE_HAL_SPI_REGISTER_CALLBACKS         0U /* SPI register callback disabled       */
+#define  USE_HAL_I2S_REGISTER_CALLBACKS         0U /* I2S register callback disabled       */
+#define  USE_HAL_TIM_REGISTER_CALLBACKS         0U /* TIM register callback disabled       */
+#define  USE_HAL_TSC_REGISTER_CALLBACKS         0U /* TSC register callback disabled       */
+#define  USE_HAL_PCD_REGISTER_CALLBACKS         0U /* PCD register callback disabled       */
+
 /* ########################## Assert Selection ############################## */
 /**
   * @brief Uncomment the line below to expanse the "assert_param" macro in the
@@ -175,15 +184,6 @@
   */
 /* #define USE_FULL_ASSERT   1U */
 
-/* ################## SPI peripheral configuration ########################## */
-
-/* CRC FEATURE: Use to activate CRC feature inside HAL SPI Driver
-* Activated: CRC code is present inside driver
-* Deactivated: CRC code cleaned from driver
-*/
-
-#define USE_SPI_CRC                     0U
-
 /* Includes ------------------------------------------------------------------*/
 /**
   * @brief Include module's header file
@@ -193,14 +193,14 @@
  #include "stm32f0xx_hal_rcc.h"
 #endif /* HAL_RCC_MODULE_ENABLED */
 
-#ifdef HAL_EXTI_MODULE_ENABLED
- #include "stm32f0xx_hal_exti.h"
-#endif /* HAL_EXTI_MODULE_ENABLED */
-
 #ifdef HAL_GPIO_MODULE_ENABLED
  #include "stm32f0xx_hal_gpio.h"
 #endif /* HAL_GPIO_MODULE_ENABLED */
 
+#ifdef HAL_EXTI_MODULE_ENABLED
+  #include "stm32f0xx_hal_exti.h"
+#endif /* HAL_EXTI_MODULE_ENABLED */
+
 #ifdef HAL_DMA_MODULE_ENABLED
   #include "stm32f0xx_hal_dma.h"
 #endif /* HAL_DMA_MODULE_ENABLED */
@@ -301,15 +301,15 @@
 #ifdef  USE_FULL_ASSERT
 /**
   * @brief  The assert_param macro is used for function's parameters check.
-  * @param  expr: If expr is false, it calls assert_failed function
+  * @param  expr If expr is false, it calls assert_failed function
   *         which reports the name of the source file and the source
   *         line number of the call that failed.
   *         If expr is true, it returns no value.
   * @retval None
   */
-  #define assert_param(expr) ((expr) ? (void)0U : assert_failed((char *)__FILE__, __LINE__))
+  #define assert_param(expr) ((expr) ? (void)0U : assert_failed((uint8_t *)__FILE__, __LINE__))
 /* Exported functions ------------------------------------------------------- */
-  void assert_failed(char* file, uint32_t line);
+  void assert_failed(uint8_t* file, uint32_t line);
 #else
   #define assert_param(expr) ((void)0U)
 #endif /* USE_FULL_ASSERT */
@@ -320,4 +320,3 @@
 
 #endif /* __STM32F0xx_HAL_CONF_H */
 
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Inc/stm32f0xx_it.h

@@ -76,5 +76,3 @@ void SysTick_Handler(void);
 #endif
 
 #endif /* __STM32F0xx_IT_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Src/main.c

@@ -37,7 +37,6 @@
   ******************************************************************************
   */
 /* USER CODE END Header */
-
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
 
@@ -62,10 +61,12 @@
 /* USER CODE END PM */
 
 /* Private variables ---------------------------------------------------------*/
-ADC_HandleTypeDef hadc;
+ ADC_HandleTypeDef hadc;
 
 TIM_HandleTypeDef htim2;
 TIM_HandleTypeDef htim3;
+TIM_HandleTypeDef htim16;
+TIM_HandleTypeDef htim17;
 
 UART_HandleTypeDef huart2;
 
@@ -81,6 +82,8 @@ static void MX_USART2_UART_Init(void);
 static void MX_ADC_Init(void);
 static void MX_TIM2_Init(void);
 static void MX_TIM3_Init(void);
+static void MX_TIM16_Init(void);
+static void MX_TIM17_Init(void);
 /* USER CODE BEGIN PFP */
 /* Private function prototypes -----------------------------------------------*/
 
@@ -123,6 +126,8 @@ int main(void)
   MX_ADC_Init();
   MX_TIM2_Init();
   MX_TIM3_Init();
+  MX_TIM16_Init();
+  MX_TIM17_Init();
   /* USER CODE BEGIN 2 */
 
   /* USER CODE END 2 */
@@ -148,7 +153,8 @@ void SystemClock_Config(void)
   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
   RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
 
-  /** Initializes the CPU, AHB and APB busses clocks
+  /** Initializes the RCC Oscillators according to the specified parameters
+  * in the RCC_OscInitTypeDef structure.
   */
   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI14|RCC_OSCILLATORTYPE_HSI48;
   RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
@@ -159,7 +165,8 @@ void SystemClock_Config(void)
   {
     Error_Handler();
   }
-  /** Initializes the CPU, AHB and APB busses clocks
+
+  /** Initializes the CPU, AHB and APB buses clocks
   */
   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                               |RCC_CLOCKTYPE_PCLK1;
@@ -196,6 +203,7 @@ static void MX_ADC_Init(void)
   /* USER CODE BEGIN ADC_Init 1 */
 
   /* USER CODE END ADC_Init 1 */
+
   /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
   */
   hadc.Instance = ADC1;
@@ -216,6 +224,7 @@ static void MX_ADC_Init(void)
   {
     Error_Handler();
   }
+
   /** Configure for the selected ADC regular channel to be converted.
   */
   sConfig.Channel = ADC_CHANNEL_0;
@@ -225,6 +234,7 @@ static void MX_ADC_Init(void)
   {
     Error_Handler();
   }
+
   /** Configure for the selected ADC regular channel to be converted.
   */
   sConfig.Channel = ADC_CHANNEL_1;
@@ -232,6 +242,7 @@ static void MX_ADC_Init(void)
   {
     Error_Handler();
   }
+
   /** Configure for the selected ADC regular channel to be converted.
   */
   sConfig.Channel = ADC_CHANNEL_4;
@@ -239,6 +250,7 @@ static void MX_ADC_Init(void)
   {
     Error_Handler();
   }
+
   /** Configure for the selected ADC regular channel to be converted.
   */
   sConfig.Channel = ADC_CHANNEL_8;
@@ -246,6 +258,7 @@ static void MX_ADC_Init(void)
   {
     Error_Handler();
   }
+
   /** Configure for the selected ADC regular channel to be converted.
   */
   sConfig.Channel = ADC_CHANNEL_10;
@@ -253,6 +266,7 @@ static void MX_ADC_Init(void)
   {
     Error_Handler();
   }
+
   /** Configure for the selected ADC regular channel to be converted.
   */
   sConfig.Channel = ADC_CHANNEL_11;
@@ -288,7 +302,7 @@ static void MX_TIM2_Init(void)
   htim2.Instance = TIM2;
   htim2.Init.Prescaler = 0;
   htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim2.Init.Period = 0;
+  htim2.Init.Period = 4294967295;
   htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
   if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
@@ -351,7 +365,7 @@ static void MX_TIM3_Init(void)
   htim3.Instance = TIM3;
   htim3.Init.Prescaler = 0;
   htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim3.Init.Period = 0;
+  htim3.Init.Period = 65535;
   htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
   if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
@@ -392,6 +406,130 @@ static void MX_TIM3_Init(void)
 
 }
 
+/**
+  * @brief TIM16 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM16_Init(void)
+{
+
+  /* USER CODE BEGIN TIM16_Init 0 */
+
+  /* USER CODE END TIM16_Init 0 */
+
+  TIM_OC_InitTypeDef sConfigOC = {0};
+  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+
+  /* USER CODE BEGIN TIM16_Init 1 */
+
+  /* USER CODE END TIM16_Init 1 */
+  htim16.Instance = TIM16;
+  htim16.Init.Prescaler = 0;
+  htim16.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim16.Init.Period = 65535;
+  htim16.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim16.Init.RepetitionCounter = 0;
+  htim16.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim16) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim16) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+  if (HAL_TIM_PWM_ConfigChannel(&htim16, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  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;
+  if (HAL_TIMEx_ConfigBreakDeadTime(&htim16, &sBreakDeadTimeConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM16_Init 2 */
+
+  /* USER CODE END TIM16_Init 2 */
+  HAL_TIM_MspPostInit(&htim16);
+
+}
+
+/**
+  * @brief TIM17 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM17_Init(void)
+{
+
+  /* USER CODE BEGIN TIM17_Init 0 */
+
+  /* USER CODE END TIM17_Init 0 */
+
+  TIM_OC_InitTypeDef sConfigOC = {0};
+  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+
+  /* USER CODE BEGIN TIM17_Init 1 */
+
+  /* USER CODE END TIM17_Init 1 */
+  htim17.Instance = TIM17;
+  htim17.Init.Prescaler = 0;
+  htim17.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim17.Init.Period = 65535;
+  htim17.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim17.Init.RepetitionCounter = 0;
+  htim17.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim17) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_OC_Init(&htim17) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_TIMING;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+  if (HAL_TIM_OC_ConfigChannel(&htim17, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  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;
+  if (HAL_TIMEx_ConfigBreakDeadTime(&htim17, &sBreakDeadTimeConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM17_Init 2 */
+
+  /* USER CODE END TIM17_Init 2 */
+  HAL_TIM_MspPostInit(&htim17);
+
+}
+
 /**
   * @brief USART2 Initialization Function
   * @param None
@@ -486,7 +624,7 @@ void Error_Handler(void)
   * @param  line: assert_param error line source number
   * @retval None
   */
-void assert_failed(char *file, uint32_t line)
+void assert_failed(uint8_t *file, uint32_t line)
 {
   /* USER CODE BEGIN 6 */
   /* User can add his own implementation to report the file name and line number,
@@ -494,5 +632,3 @@ void assert_failed(char *file, uint32_t line)
   /* USER CODE END 6 */
 }
 #endif /* USE_FULL_ASSERT */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Src/stm32f0xx_hal_msp.c

@@ -80,7 +80,7 @@
 /* USER CODE END 0 */
 
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
-                                        /**
+                                                                                /**
   * Initializes the Global MSP.
   */
 void HAL_MspInit(void)
@@ -216,6 +216,28 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
 
   /* USER CODE END TIM3_MspInit 1 */
   }
+  else if(htim_base->Instance==TIM16)
+  {
+  /* USER CODE BEGIN TIM16_MspInit 0 */
+
+  /* USER CODE END TIM16_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM16_CLK_ENABLE();
+  /* USER CODE BEGIN TIM16_MspInit 1 */
+
+  /* USER CODE END TIM16_MspInit 1 */
+  }
+  else if(htim_base->Instance==TIM17)
+  {
+  /* USER CODE BEGIN TIM17_MspInit 0 */
+
+  /* USER CODE END TIM17_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM17_CLK_ENABLE();
+  /* USER CODE BEGIN TIM17_MspInit 1 */
+
+  /* USER CODE END TIM17_MspInit 1 */
+  }
 
 }
 
@@ -273,6 +295,48 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
 
   /* USER CODE END TIM3_MspPostInit 1 */
   }
+  else if(htim->Instance==TIM16)
+  {
+  /* USER CODE BEGIN TIM16_MspPostInit 0 */
+
+  /* USER CODE END TIM16_MspPostInit 0 */
+
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    /**TIM16 GPIO Configuration
+    PB6     ------> TIM16_CH1N
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_6;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF2_TIM16;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM16_MspPostInit 1 */
+
+  /* USER CODE END TIM16_MspPostInit 1 */
+  }
+  else if(htim->Instance==TIM17)
+  {
+  /* USER CODE BEGIN TIM17_MspPostInit 0 */
+
+  /* USER CODE END TIM17_MspPostInit 0 */
+
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**TIM17 GPIO Configuration
+    PA7     ------> TIM17_CH1
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_7;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF5_TIM17;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM17_MspPostInit 1 */
+
+  /* USER CODE END TIM17_MspPostInit 1 */
+  }
 
 }
 /**
@@ -305,6 +369,28 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
 
   /* USER CODE END TIM3_MspDeInit 1 */
   }
+  else if(htim_base->Instance==TIM16)
+  {
+  /* USER CODE BEGIN TIM16_MspDeInit 0 */
+
+  /* USER CODE END TIM16_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM16_CLK_DISABLE();
+  /* USER CODE BEGIN TIM16_MspDeInit 1 */
+
+  /* USER CODE END TIM16_MspDeInit 1 */
+  }
+  else if(htim_base->Instance==TIM17)
+  {
+  /* USER CODE BEGIN TIM17_MspDeInit 0 */
+
+  /* USER CODE END TIM17_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM17_CLK_DISABLE();
+  /* USER CODE BEGIN TIM17_MspDeInit 1 */
+
+  /* USER CODE END TIM17_MspDeInit 1 */
+  }
 
 }
 
@@ -376,5 +462,3 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Src/stm32f0xx_it.c

@@ -157,4 +157,3 @@ void SysTick_Handler(void)
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

bsp/stm32/stm32f072-st-nucleo/board/Kconfig

@@ -17,6 +17,7 @@ menu "Onboard Peripheral Drivers"
     config BSP_USING_ARDUINO
         bool "Support Arduino"
         select RT_USING_ARDUINO
+        select ARDUINO_USING_SERVO
         select RT_USING_PIN
         select BSP_USING_ADC
         select BSP_USING_ADC1
@@ -27,7 +28,10 @@ menu "Onboard Peripheral Drivers"
         select BSP_USING_PWM3
         select BSP_USING_PWM3_CH1
         select BSP_USING_PWM3_CH2
-        select BSP_USING_I2C
+        select BSP_USING_PWM16
+        select BSP_USING_PWM16_CH1
+        select BSP_USING_PWM17
+        select BSP_USING_PWM17_CH1
         default n
 
 endmenu
@@ -74,13 +78,13 @@ menu "On-chip Peripheral Drivers"
         endif
 
     menuconfig BSP_USING_PWM
-        bool "Enable pwm"
+        bool "Enable PWM"
         default n
         select RT_USING_PWM
 
         if BSP_USING_PWM
             menuconfig BSP_USING_PWM2
-                bool "Enable timer2 output pwm"
+                bool "Enable timer2 output PWM"
                 default n
                 if BSP_USING_PWM2
                     config BSP_USING_PWM2_CH2
@@ -93,7 +97,7 @@ menu "On-chip Peripheral Drivers"
                 endif
 
             menuconfig BSP_USING_PWM3
-                bool "Enable timer3 output pwm"
+                bool "Enable timer3 output PWM"
                 default n
                 if BSP_USING_PWM3
                     config BSP_USING_PWM3_CH1
@@ -104,6 +108,24 @@ menu "On-chip Peripheral Drivers"
                         bool "Enable PWM3 channel2"
                         default n
                 endif
+
+            menuconfig BSP_USING_PWM16
+                bool "Enable timer16 output PWM"
+                default n
+                if BSP_USING_PWM16
+                    config BSP_USING_PWM16_CH1
+                        bool "Enable PWM16 channel1"
+                        default n
+                endif
+
+            menuconfig BSP_USING_PWM17
+                bool "Enable timer17 output PWM"
+                default n
+                if BSP_USING_PWM17
+                    config BSP_USING_PWM17_CH1
+                        bool "Enable PWM17 channel1"
+                        default n
+                endif
         endif
 
     menuconfig BSP_USING_I2C

bsp/stm32/stm32f091-st-nucleo/board/Kconfig

@@ -107,12 +107,12 @@ menu "On-chip Peripheral Drivers"
         endif
 
     menuconfig BSP_USING_PWM
-        bool "Enable pwm"
+        bool "Enable PWM"
         default n
         select RT_USING_PWM
         if BSP_USING_PWM
         menuconfig BSP_USING_PWM2
-            bool "Enable timer2 output pwm"
+            bool "Enable timer2 output PWM"
             default n
             if BSP_USING_PWM2
                 config BSP_USING_PWM2_CH4

bsp/stm32/stm32f103-atk-nano/board/Kconfig

@@ -95,12 +95,12 @@ menu "On-chip Peripheral Drivers"
         endif
 
     menuconfig BSP_USING_PWM
-        bool "Enable pwm"
+        bool "Enable PWM"
         default n
         select RT_USING_PWM
         if BSP_USING_PWM
         menuconfig BSP_USING_PWM3
-            bool "Enable timer3 output pwm"
+            bool "Enable timer3 output PWM"
             default n
             if BSP_USING_PWM3
                 config BSP_USING_PWM3_CH1

bsp/stm32/stm32f103-atk-warshipv3/board/Kconfig

@@ -108,12 +108,12 @@ menu "On-chip Peripheral Drivers"
         endif
 
     menuconfig BSP_USING_PWM
-        bool "Enable pwm"
+        bool "Enable PWM"
         default n
         select RT_USING_PWM
         if BSP_USING_PWM
         menuconfig BSP_USING_PWM3
-            bool "Enable timer3 output pwm"
+            bool "Enable timer3 output PWM"
             default n
             if BSP_USING_PWM3
                 config BSP_USING_PWM3_CH1

bsp/stm32/stm32f103-fire-arbitrary/board/Kconfig

@@ -220,12 +220,12 @@ menu "On-chip Peripheral Drivers"
         endif
 
     menuconfig BSP_USING_PWM
-        bool "Enable pwm"
+        bool "Enable PWM"
         default n
         select RT_USING_PWM
         if BSP_USING_PWM
         menuconfig BSP_USING_PWM3
-            bool "Enable timer3 output pwm"
+            bool "Enable timer3 output PWM"
             default n
             if BSP_USING_PWM3
                 config BSP_USING_PWM3_CH2

bsp/stm32/stm32f103-yf-ufun/board/Kconfig

@@ -77,7 +77,7 @@ menu "On-chip Peripheral Drivers"
         select RT_USING_PWM
         if BSP_USING_PWM
         menuconfig BSP_USING_PWM2
-            bool "Enable timer2 output pwm"
+            bool "Enable timer2 output PWM"
             default n
             if BSP_USING_PWM2
                 config BSP_USING_PWM2_CH1

bsp/stm32/stm32f407-armfly-v5/board/Kconfig

@@ -135,12 +135,12 @@ menu "On-chip Peripheral Drivers"
         endif
 
     menuconfig BSP_USING_PWM
-        bool "Enable pwm"
+        bool "Enable PWM"
         default n
         select RT_USING_PWM
         if BSP_USING_PWM
         menuconfig BSP_USING_PWM10
-            bool "Enable timer10 output pwm"
+            bool "Enable timer10 output PWM"
             default n
             if BSP_USING_PWM10
                 config BSP_USING_PWM10_CH1

bsp/stm32/stm32f407-atk-explorer/board/Kconfig

@@ -255,12 +255,12 @@ menu "On-chip Peripheral Drivers"
         endif
 
     menuconfig BSP_USING_PWM
-        bool "Enable pwm"
+        bool "Enable PWM"
         default n
         select RT_USING_PWM
         if BSP_USING_PWM
         menuconfig BSP_USING_PWM2
-            bool "Enable timer2 output pwm"
+            bool "Enable timer2 output PWM"
             default n
             if BSP_USING_PWM2
                 config BSP_USING_PWM2_CH4

bsp/stm32/stm32f411-st-nucleo/board/Kconfig

@@ -82,12 +82,12 @@ menu "On-chip Peripheral Drivers"
         endif
 
     menuconfig BSP_USING_PWM
-        bool "Enable pwm"
+        bool "Enable PWM"
         default n
         select RT_USING_PWM
         if BSP_USING_PWM
         menuconfig BSP_USING_PWM3
-            bool "Enable timer3 output pwm"
+            bool "Enable timer3 output PWM"
             default n
             if BSP_USING_PWM3
                 config BSP_USING_PWM3_CH1

bsp/stm32/stm32f413-st-nucleo/board/Kconfig

@@ -104,12 +104,12 @@ menu "On-chip Peripheral Drivers"
         endif
 
     menuconfig BSP_USING_PWM
-        bool "Enable pwm"
+        bool "Enable PWM"
         default n
         select RT_USING_PWM
         if BSP_USING_PWM
         menuconfig BSP_USING_PWM2
-            bool "Enable timer2 output pwm"
+            bool "Enable timer2 output PWM"
             default n
             if BSP_USING_PWM2
                 config BSP_USING_PWM2_CH4

bsp/stm32/stm32f427-robomaster-a/board/Kconfig

@@ -89,12 +89,12 @@ menu "On-chip Peripheral Drivers"
         default n
 
     menuconfig BSP_USING_PWM
-        bool "Enable pwm"
+        bool "Enable PWM"
         default n
         select RT_USING_PWM
         if BSP_USING_PWM
             menuconfig BSP_USING_PWM12
-                bool "Enable timer12 output pwm"
+                bool "Enable timer12 output PWM"
                 default n
                 if BSP_USING_PWM12
                     config BSP_USING_PWM12_CH1
@@ -103,7 +103,7 @@ menu "On-chip Peripheral Drivers"
                 endif
 
             menuconfig BSP_USING_PWM4
-                bool "Enable timer4 output pwm"
+                bool "Enable timer4 output PWM"
                 default n
                 if BSP_USING_PWM4
                     config BSP_USING_PWM4_CH1
@@ -121,7 +121,7 @@ menu "On-chip Peripheral Drivers"
                 endif
 
             menuconfig BSP_USING_PWM5
-                bool "Enable timer5 output pwm"
+                bool "Enable timer5 output PWM"
                 default n
                 if BSP_USING_PWM5
                     config BSP_USING_PWM5_CH1

bsp/stm32/stm32f429-armfly-v6/board/Kconfig

@@ -160,12 +160,12 @@ menu "On-chip Peripheral Drivers"
         endif
 
     menuconfig BSP_USING_PWM
-        bool "Enable pwm"
+        bool "Enable PWM"
         default n
         select RT_USING_PWM
         if BSP_USING_PWM
         menuconfig BSP_USING_PWM2
-            bool "Enable timer2 output pwm"
+            bool "Enable timer2 output PWM"
             default n
             if BSP_USING_PWM2
                 config BSP_USING_PWM2_CH1

bsp/stm32/stm32f429-atk-apollo/board/Kconfig

@@ -223,12 +223,12 @@ menu "On-chip Peripheral Drivers"
         endif
 
     menuconfig BSP_USING_PWM
-        bool "Enable pwm"
+        bool "Enable PWM"
         default n
         select RT_USING_PWM
         if BSP_USING_PWM
         menuconfig BSP_USING_PWM2
-            bool "Enable timer2 output pwm"
+            bool "Enable timer2 output PWM"
             default n
             if BSP_USING_PWM2
                 config BSP_USING_PWM2_CH4

bsp/stm32/stm32f429-fire-challenger/board/Kconfig

@@ -156,12 +156,12 @@ menu "On-chip Peripheral Drivers"
         endif
 
     menuconfig BSP_USING_PWM
-        bool "Enable pwm"
+        bool "Enable PWM"
         default n
         select RT_USING_PWM
         if BSP_USING_PWM
         menuconfig BSP_USING_PWM5
-            bool "Enable timer5 output pwm"
+            bool "Enable timer5 output PWM"
             default n
             if BSP_USING_PWM5
                 config BSP_USING_PWM5_CH1

bsp/stm32/stm32f746-st-nucleo/board/Kconfig

@@ -158,12 +158,12 @@ menu "On-chip Peripheral Drivers"
         endif
 
     menuconfig BSP_USING_PWM
-        bool "Enable pwm"
+        bool "Enable PWM"
         default n
         select RT_USING_PWM
         if BSP_USING_PWM
         menuconfig BSP_USING_PWM3
-            bool "Enable timer3 output pwm"
+            bool "Enable timer3 output PWM"
             default n
             if BSP_USING_PWM3
                 config BSP_USING_PWM3_CH2

bsp/stm32/stm32f767-atk-apollo/board/Kconfig

@@ -148,12 +148,12 @@ menu "On-chip Peripheral Drivers"
         endif
 
     menuconfig BSP_USING_PWM
-        bool "Enable pwm"
+        bool "Enable PWM"
         default n
         select RT_USING_PWM
         if BSP_USING_PWM
         menuconfig BSP_USING_PWM3
-            bool "Enable timer3 output pwm"
+            bool "Enable timer3 output PWM"
             default n
             if BSP_USING_PWM3
                 config BSP_USING_PWM3_CH3

bsp/stm32/stm32g070-st-nucleo/board/Kconfig

@@ -72,12 +72,12 @@ menu "On-chip Peripheral Drivers"
         endif
 
     menuconfig BSP_USING_PWM
-        bool "Enable pwm"
+        bool "Enable PWM"
         default n
         select RT_USING_PWM
         if BSP_USING_PWM
         menuconfig BSP_USING_PWM3
-            bool "Enable timer3 output pwm"
+            bool "Enable timer3 output PWM"
             default n
             if BSP_USING_PWM3
                 config BSP_USING_PWM3_CH1

bsp/stm32/stm32g071-st-nucleo/board/Kconfig

@@ -72,12 +72,12 @@ menu "On-chip Peripheral Drivers"
         endif
 
     menuconfig BSP_USING_PWM
-        bool "Enable pwm"
+        bool "Enable PWM"
         default n
         select RT_USING_PWM
         if BSP_USING_PWM
         menuconfig BSP_USING_PWM3
-            bool "Enable timer3 output pwm"
+            bool "Enable timer3 output PWM"
             default n
             if BSP_USING_PWM3
                 config BSP_USING_PWM3_CH1

bsp/stm32/stm32h750-armfly-h7-tool/board/Kconfig

@@ -90,12 +90,12 @@ menu "On-chip Peripheral Drivers"
         endif
 
     menuconfig BSP_USING_PWM
-        bool "Enable pwm"
+        bool "Enable PWM"
         default n
         select RT_USING_PWM
         if BSP_USING_PWM
         menuconfig BSP_USING_PWM2
-            bool "Enable timer2 output pwm"
+            bool "Enable timer2 output PWM"
             default n
             if BSP_USING_PWM2
                 config BSP_USING_PWM2_CH2

bsp/stm32/stm32l433-ali-startkit/board/Kconfig

@@ -171,12 +171,12 @@ menu "On-chip Peripheral Drivers"
         endif
 
     menuconfig BSP_USING_PWM
-        bool "Enable pwm"
+        bool "Enable PWM"
         default n
         select RT_USING_PWM
         if BSP_USING_PWM
         menuconfig BSP_USING_PWM3
-            bool "Enable timer3 output pwm"
+            bool "Enable timer3 output PWM"
             default n
             if BSP_USING_PWM3
                 config BSP_USING_PWM3_CH2

bsp/stm32/stm32l475-atk-pandora/board/Kconfig

@@ -22,6 +22,8 @@ menu "Onboard Peripheral Drivers"
     config BSP_USING_ARDUINO
         bool "Support Arduino"
         select RT_USING_ARDUINO
+        select ARDUINO_USING_SERVO
+        select ARDUINO_USING_WIRE
         select BSP_USING_PWM
         select BSP_USING_PWM1
         select BSP_USING_PWM1_CH1

bsp/stm32/stm32l496-ali-developer/board/Kconfig

@@ -171,12 +171,12 @@ menu "On-chip Peripheral Drivers"
         endif
 
     menuconfig BSP_USING_PWM
-        bool "Enable pwm"
+        bool "Enable PWM"
         default n
         select RT_USING_PWM
         if BSP_USING_PWM
         menuconfig BSP_USING_PWM3
-            bool "Enable timer3 output pwm"
+            bool "Enable timer3 output PWM"
             default n
             if BSP_USING_PWM3
                 config BSP_USING_PWM3_CH2

bsp/stm32/stm32mp157a-st-discovery/board/Kconfig

@@ -169,12 +169,12 @@ menu "On-chip Peripheral Drivers"
         endif
 
     menuconfig BSP_USING_PWM
-        bool "Enable pwm"
+        bool "Enable PWM"
         default n
         select RT_USING_PWM
         if BSP_USING_PWM
         menuconfig BSP_USING_PWM4
-            bool "Enable timer4 output pwm"
+            bool "Enable timer4 output PWM"
             default n
             if BSP_USING_PWM4
                 config BSP_USING_PWM4_CH2

bsp/stm32/stm32mp157a-st-ev1/board/Kconfig

@@ -223,12 +223,12 @@ menu "On-chip Peripheral Drivers"
         endif
 
     menuconfig BSP_USING_PWM
-        bool "Enable pwm"
+        bool "Enable PWM"
         default n
         select RT_USING_PWM
         if BSP_USING_PWM
         menuconfig BSP_USING_PWM4
-            bool "Enable timer4 output pwm"
+            bool "Enable timer4 output PWM"
             default n
             if BSP_USING_PWM4
                 config BSP_USING_PWM4_CH2

bsp/tae32f5300/drivers/Kconfig

@@ -188,7 +188,7 @@ menu "On-chip Peripheral Drivers"
         select RT_USING_PWM
         if BSP_USING_PWM
         menuconfig BSP_USING_PWM1
-            bool "Enable timer1 output pwm"
+            bool "Enable timer1 output PWM"
             default n
             if BSP_USING_PWM1
                 config BSP_USING_PWM1_CH1
@@ -209,7 +209,7 @@ menu "On-chip Peripheral Drivers"
             endif
 
         menuconfig BSP_USING_PWM2
-            bool "Enable timer2 output pwm"
+            bool "Enable timer2 output PWM"
             default n
             if BSP_USING_PWM2
                 config BSP_USING_PWM2_CH1

bsp/tm4c123bsp/board/Kconfig

@@ -228,7 +228,7 @@ menu "On-chip Peripheral Drivers"
         endif
 
     menuconfig BSP_USING_PWM
-        bool "Enable pwm"
+        bool "Enable PWM"
         default n
         select RT_USING_PWM
         if BSP_USING_PWM

bsp/w60x/drivers/Kconfig

@@ -133,43 +133,43 @@ menu "On-chip Peripheral Drivers"
 
     if BSP_USING_PWM
         config USING_PWM_CH1
-            bool "Enable pwm channel 1"
+            bool "Enable PWM channel 1"
             default n
             if USING_PWM_CH1
                 config WM_PWM_CH1_PIN
-                int "wm pwm channel 1 pin number"
+                int "wm PWM channel 1 pin number"
                 default 23
             endif
         config USING_PWM_CH2
-            bool "Enable pwm channel 2"
+            bool "Enable PWM channel 2"
             default n
             if USING_PWM_CH2
                 config WM_PWM_CH2_PIN
-                int "wm pwm channel 2 pin number"
+                int "wm PWM channel 2 pin number"
                 default 22
             endif
         config USING_PWM_CH3
-            bool "Enable pwm channel 3"
+            bool "Enable PWM channel 3"
             default n
             if USING_PWM_CH3
                 config WM_PWM_CH3_PIN
-                int "wm pwm channel 3 pin number"
+                int "wm PWM channel 3 pin number"
                 default 21
             endif
         config USING_PWM_CH4
-            bool "Enable pwm channel 4"
+            bool "Enable PWM channel 4"
             default n
             if USING_PWM_CH4
                 config WM_PWM_CH4_PIN
-                int "wm pwm channel 4 pin number"
+                int "wm PWM channel 4 pin number"
                 default 37
             endif
         config USING_PWM_CH5
-            bool "Enable pwm channel 5"
+            bool "Enable PWM channel 5"
             default n
             if USING_PWM_CH5
                 config WM_PWM_CH5_PIN
-                int "wm pwm channel 5 pin number"
+                int "wm PWM channel 5 pin number"
                 default 19
             endif
     endif

bsp/wch/arm/ch32f103c8-core/board/Kconfig

@@ -101,7 +101,7 @@ config BSP_USING_TIM
 
                 if BSP_USING_TIM1
                         choice
-                                prompt "using TIM1 as hwtimer or pwm mode"
+                                prompt "using TIM1 as hwtimer or PWM mode"
                                 default BSP_USING_TIM1_HWTIMER
 
                                 config BSP_USING_TIM1_HWTIMER
@@ -109,7 +109,7 @@ config BSP_USING_TIM
                                         select BSP_USING_HWTIMER
 
                                 config BSP_USING_TIM1_PWM
-                                        bool "using TIM1 as pwm mode"
+                                        bool "using TIM1 as PWM mode"
                                         select BSP_USING_PWM
 
                         endchoice
@@ -139,7 +139,7 @@ config BSP_USING_TIM
 
                 if BSP_USING_TIM2
                         choice
-                                prompt "using TIM2 as hwtimer or pwm mode"
+                                prompt "using TIM2 as hwtimer or PWM mode"
                                 default BSP_USING_TIM2_HWTIMER
 
                                 config BSP_USING_TIM2_HWTIMER
@@ -147,7 +147,7 @@ config BSP_USING_TIM
                                         select BSP_USING_HWTIMER
 
                                 config BSP_USING_TIM2_PWM
-                                        bool "using TIM2 as pwm mode"
+                                        bool "using TIM2 as PWM mode"
                                         select BSP_USING_PWM
 
                         endchoice
@@ -177,7 +177,7 @@ config BSP_USING_TIM
 
                 if BSP_USING_TIM3
                         choice
-                                prompt "using TIM3 as hwtimer or pwm mode"
+                                prompt "using TIM3 as hwtimer or PWM mode"
                                 default BSP_USING_TIM3_HWTIMER
 
                                 config BSP_USING_TIM3_HWTIMER
@@ -185,7 +185,7 @@ config BSP_USING_TIM
                                         select BSP_USING_HWTIMER
 
                                 config BSP_USING_TIM3_PWM
-                                        bool "using TIM3 as pwm mode"
+                                        bool "using TIM3 as PWM mode"
                                         select BSP_USING_PWM
 
                         endchoice
@@ -215,7 +215,7 @@ config BSP_USING_TIM
 
                 if BSP_USING_TIM4
                         choice
-                                prompt "using TIM4 as hwtimer or pwm mode"
+                                prompt "using TIM4 as hwtimer or PWM mode"
                                 default BSP_USING_TIM4_HWTIMER
 
                                 config BSP_USING_TIM4_HWTIMER
@@ -223,7 +223,7 @@ config BSP_USING_TIM
                                         select BSP_USING_HWTIMER
 
                                 config BSP_USING_TIM4_PWM
-                                        bool "using TIM4 as pwm mode"
+                                        bool "using TIM4 as PWM mode"
                                         select BSP_USING_PWM
 
                         endchoice

bsp/wch/arm/ch32f203r-evt/board/Kconfig

@@ -125,7 +125,7 @@ config BSP_USING_TIM
 
                 if BSP_USING_TIM1
                         choice
-                                prompt "using TIM1 as hwtimer or pwm mode"
+                                prompt "using TIM1 as hwtimer or PWM mode"
                                 default BSP_USING_TIM1_HWTIMER
 
                                 config BSP_USING_TIM1_HWTIMER
@@ -133,7 +133,7 @@ config BSP_USING_TIM
                                         select BSP_USING_HWTIMER
 
                                 config BSP_USING_TIM1_PWM
-                                        bool "using TIM1 as pwm mode"
+                                        bool "using TIM1 as PWM mode"
                                         select BSP_USING_PWM
 
                         endchoice
@@ -163,7 +163,7 @@ config BSP_USING_TIM
 
                 if BSP_USING_TIM2
                         choice
-                                prompt "using TIM2 as hwtimer or pwm mode"
+                                prompt "using TIM2 as hwtimer or PWM mode"
                                 default BSP_USING_TIM2_HWTIMER
 
                                 config BSP_USING_TIM2_HWTIMER
@@ -171,7 +171,7 @@ config BSP_USING_TIM
                                         select BSP_USING_HWTIMER
 
                                 config BSP_USING_TIM2_PWM
-                                        bool "using TIM2 as pwm mode"
+                                        bool "using TIM2 as PWM mode"
                                         select BSP_USING_PWM
 
                         endchoice
@@ -201,7 +201,7 @@ config BSP_USING_TIM
 
                 if BSP_USING_TIM3
                         choice
-                                prompt "using TIM3 as hwtimer or pwm mode"
+                                prompt "using TIM3 as hwtimer or PWM mode"
                                 default BSP_USING_TIM3_HWTIMER
 
                                 config BSP_USING_TIM3_HWTIMER
@@ -209,7 +209,7 @@ config BSP_USING_TIM
                                         select BSP_USING_HWTIMER
 
                                 config BSP_USING_TIM3_PWM
-                                        bool "using TIM3 as pwm mode"
+                                        bool "using TIM3 as PWM mode"
                                         select BSP_USING_PWM
 
                         endchoice
@@ -239,7 +239,7 @@ config BSP_USING_TIM
 
                 if BSP_USING_TIM4
                         choice
-                                prompt "using TIM4 as hwtimer or pwm mode"
+                                prompt "using TIM4 as hwtimer or PWM mode"
                                 default BSP_USING_TIM4_HWTIMER
 
                                 config BSP_USING_TIM4_HWTIMER
@@ -247,7 +247,7 @@ config BSP_USING_TIM
                                         select BSP_USING_HWTIMER
 
                                 config BSP_USING_TIM4_PWM
-                                        bool "using TIM4 as pwm mode"
+                                        bool "using TIM4 as PWM mode"
                                         select BSP_USING_PWM
 
                         endchoice
@@ -277,7 +277,7 @@ config BSP_USING_TIM
 
                 if BSP_USING_TIM4
                         choice
-                                prompt "using TIM5 as hwtimer or pwm mode"
+                                prompt "using TIM5 as hwtimer or PWM mode"
                                 default BSP_USING_TIM5_HWTIMER
 
                                 config BSP_USING_TIM5_HWTIMER
@@ -285,7 +285,7 @@ config BSP_USING_TIM
                                         select BSP_USING_HWTIMER
 
                                 config BSP_USING_TIM5_PWM
-                                        bool "using TIM5 as pwm mode"
+                                        bool "using TIM5 as PWM mode"
                                         select BSP_USING_PWM
 
                         endchoice
@@ -339,7 +339,7 @@ config BSP_USING_TIM
 
                 if BSP_USING_TIM8
                         choice
-                                prompt "using TIM8 as hwtimer or pwm mode"
+                                prompt "using TIM8 as hwtimer or PWM mode"
                                 default BSP_USING_TIM8_HWTIMER
 
                                 config BSP_USING_TIM8_HWTIMER
@@ -347,7 +347,7 @@ config BSP_USING_TIM
                                         select BSP_USING_HWTIMER
 
                                 config BSP_USING_TIM8_PWM
-                                        bool "using TIM8 as pwm mode"
+                                        bool "using TIM8 as PWM mode"
                                         select BSP_USING_PWM
 
                         endchoice
@@ -377,7 +377,7 @@ config BSP_USING_TIM
 
                 if BSP_USING_TIM9
                         choice
-                                prompt "using TIM9 as hwtimer or pwm mode"
+                                prompt "using TIM9 as hwtimer or PWM mode"
                                 default BSP_USING_TIM9_HWTIMER
 
                                 config BSP_USING_TIM9_HWTIMER
@@ -385,7 +385,7 @@ config BSP_USING_TIM
                                         select BSP_USING_HWTIMER
 
                                 config BSP_USING_TIM9_PWM
-                                        bool "using TIM9 as pwm mode"
+                                        bool "using TIM9 as PWM mode"
                                         select BSP_USING_PWM
 
                         endchoice
@@ -415,7 +415,7 @@ config BSP_USING_TIM
 
                 if BSP_USING_TIM10
                         choice
-                                prompt "using TIM10 as hwtimer or pwm mode"
+                                prompt "using TIM10 as hwtimer or PWM mode"
                                 default BSP_USING_TIM10_HWTIMER
 
                                 config BSP_USING_TIM10_HWTIMER
@@ -423,7 +423,7 @@ config BSP_USING_TIM
                                         select BSP_USING_HWTIMER
 
                                 config BSP_USING_TIM10_PWM
-                                        bool "using TIM10 as pwm mode"
+                                        bool "using TIM10 as PWM mode"
                                         select BSP_USING_PWM
 
                         endchoice