feat:make init mode as follow

.config

@@ -1594,9 +1594,37 @@ CONFIG_BSP_USING_PWM1_CH1=y
 CONFIG_BSP_USING_PWM1_CH2=y
 CONFIG_BSP_USING_PWM1_CH3=y
 CONFIG_BSP_USING_PWM1_CH4=y
+CONFIG_BSP_USING_PWM2=y
+# CONFIG_BSP_USING_PWM2_CH1 is not set
+# CONFIG_BSP_USING_PWM2_CH2 is not set
+# CONFIG_BSP_USING_PWM2_CH3 is not set
+# CONFIG_BSP_USING_PWM2_CH4 is not set
+CONFIG_BSP_USING_PWM3=y
+CONFIG_BSP_USING_PWM3_CH1=y
+CONFIG_BSP_USING_PWM3_CH2=y
+CONFIG_BSP_USING_PWM3_CH3=y
+CONFIG_BSP_USING_PWM3_CH4=y
+CONFIG_BSP_USING_PWM4=y
+CONFIG_BSP_USING_PWM4_CH1=y
+CONFIG_BSP_USING_PWM4_CH2=y
+CONFIG_BSP_USING_PWM4_CH3=y
+CONFIG_BSP_USING_PWM4_CH4=y
+CONFIG_BSP_USING_PWM5=y
+CONFIG_BSP_USING_PWM5_CH1=y
+CONFIG_BSP_USING_PWM5_CH2=y
+CONFIG_BSP_USING_PWM5_CH3=y
+CONFIG_BSP_USING_PWM5_CH4=y
+CONFIG_BSP_USING_PWM8=y
+CONFIG_BSP_USING_PWM8_CH1=y
+CONFIG_BSP_USING_PWM8_CH2=y
+CONFIG_BSP_USING_PWM12=y
+CONFIG_BSP_USING_PWM12_CH1=y
+CONFIG_BSP_USING_PWM12_CH2=y
+CONFIG_BSP_USING_PWM15=y
+CONFIG_BSP_USING_PWM15_CH1=y
+CONFIG_BSP_USING_PWM15_CH2=y
 CONFIG_BSP_USING_QSPI=y
-CONFIG_BSP_USING_ADC=y
+# CONFIG_BSP_USING_ADC is not set
-CONFIG_BSP_USING_ADC1=y
 # CONFIG_BSP_USING_SPI is not set
 # CONFIG_BSP_USING_CRC is not set
 # CONFIG_BSP_USING_RNG is not set

.idea/misc.xml

@@ -1,8 +1,11 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
+  <component name="Black">
+    <option name="sdkName" value="cmvr-head" />
+  </component>
   <component name="CMakePythonSetting">
     <option name="pythonIntegrationState" value="YES" />
   </component>
   <component name="CMakeWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
-  <component name="WestSettings"><![CDATA[{}]]></component>
+  <component name="WestSettings">{}</component>
 </project>

CMakeLists.txt

@@ -113,14 +113,14 @@ ADD_DEFINITIONS(
 
 # Library source files
 SET(RT_APP_ERPC_SOURCES
+	applications/erpc/proto/generated/servo_service_server.cpp
+	applications/erpc/common/src/erpc_error_handler.cpp
 	applications/erpc/service/src/erpc_server_main.cpp
-	applications/erpc/proto/generated/file_service_interface.cpp
 	applications/erpc/proto/generated/servo_service_interface.cpp
 	applications/erpc/proto/generated/file_service_server.cpp
-	applications/erpc/service/src/file_service_impl.cpp
-	applications/erpc/common/src/erpc_error_handler.cpp
 	applications/erpc/service/src/servo_service_impl.cpp
-	applications/erpc/proto/generated/servo_service_server.cpp
+	applications/erpc/service/src/file_service_impl.cpp
+	applications/erpc/proto/generated/file_service_interface.cpp
 )
 
 SET(RT_APPLICATIONS_SOURCES
@@ -131,14 +131,14 @@ SET(RT_ARDUINOJSON_SOURCES
 )
 
 SET(RT_CHERRYUSB_SOURCES
-	rt-thread/components/drivers/usb/cherryusb/platform/rtthread/usb_check.c
-	rt-thread/components/drivers/usb/cherryusb/port/dwc2/usb_dc_dwc2.c
-	rt-thread/components/drivers/usb/cherryusb/core/usbd_core.c
 	rt-thread/components/drivers/usb/cherryusb/port/dwc2/usb_glue_st.c
+	rt-thread/components/drivers/usb/cherryusb/osal/usb_osal_rtthread.c
 	rt-thread/components/drivers/usb/cherryusb/class/cdc/usbd_cdc_acm.c
+	rt-thread/components/drivers/usb/cherryusb/platform/rtthread/usb_check.c
+	rt-thread/components/drivers/usb/cherryusb/core/usbd_core.c
+	rt-thread/components/drivers/usb/cherryusb/port/dwc2/usb_dc_dwc2.c
 	rt-thread/components/drivers/usb/cherryusb/platform/rtthread/usb_msh.c
 	rt-thread/components/drivers/usb/cherryusb/class/msc/usbd_msc.c
-	rt-thread/components/drivers/usb/cherryusb/osal/usb_osal_rtthread.c
 )
 
 SET(RT_COMMON_SOURCES
@@ -162,8 +162,8 @@ SET(RT_CONTROLLER_SOURCES
 )
 
 SET(RT_CPP_SOURCES
-	rt-thread/components/libc/cplusplus/cxx_crt.cpp
 	rt-thread/components/libc/cplusplus/cxx_crt_init.c
+	rt-thread/components/libc/cplusplus/cxx_crt.cpp
 )
 
 SET(RT_DEVICEDRIVERS_SOURCES
@@ -206,30 +206,30 @@ SET(RT_DRIVERS_SOURCES
 )
 
 SET(RT_ERPC_SOURCES
-	packages/erpc-1.14.0/erpc_c/infra/erpc_transport_arbitrator.cpp
+	packages/erpc-1.14.0/erpc_c/setup/erpc_setup_usb_cdc.cpp
-	packages/erpc-1.14.0/erpc_c/port/erpc_port_rtt.cpp
+	packages/erpc-1.14.0/erpc_c/infra/erpc_crc16.cpp
+	packages/erpc-1.14.0/erpc_c/setup/erpc_setup_mbf_static.cpp
+	packages/erpc-1.14.0/erpc_c/infra/erpc_simple_server.cpp
+	packages/erpc-1.14.0/erpc_c/infra/erpc_framed_transport.cpp
+	packages/erpc-1.14.0/erpc_c/infra/erpc_message_loggers.cpp
 	packages/erpc-1.14.0/erpc_c/infra/erpc_basic_codec.cpp
 	packages/erpc-1.14.0/erpc_c/transports/erpc_inter_thread_buffer_transport.cpp
-	packages/erpc-1.14.0/erpc_c/setup/erpc_setup_usb_cdc.cpp
-	packages/erpc-1.14.0/erpc_c/setup/erpc_setup_mbf_dynamic.cpp
-	packages/erpc-1.14.0/erpc_c/transports/erpc_usb_cdc_transport.cpp
-	packages/erpc-1.14.0/erpc_c/infra/erpc_message_loggers.cpp
-	packages/erpc-1.14.0/erpc_c/infra/erpc_server.cpp
-	packages/erpc-1.14.0/erpc_c/infra/erpc_simple_server.cpp
-	packages/erpc-1.14.0/erpc_c/setup/erpc_server_setup.cpp
-	packages/erpc-1.14.0/erpc_c/infra/erpc_message_buffer.cpp
-	packages/erpc-1.14.0/erpc_c/infra/erpc_crc16.cpp
-	packages/erpc-1.14.0/erpc_c/infra/erpc_framed_transport.cpp
-	packages/erpc-1.14.0/erpc_c/port/erpc_threading_pthreads.cpp
 	packages/erpc-1.14.0/erpc_c/infra/erpc_pre_post_action.cpp
-	packages/erpc-1.14.0/erpc_c/setup/erpc_setup_mbf_static.cpp
+	packages/erpc-1.14.0/erpc_c/infra/erpc_server.cpp
+	packages/erpc-1.14.0/erpc_c/infra/erpc_message_buffer.cpp
+	packages/erpc-1.14.0/erpc_c/setup/erpc_server_setup.cpp
+	packages/erpc-1.14.0/erpc_c/setup/erpc_setup_mbf_dynamic.cpp
+	packages/erpc-1.14.0/erpc_c/port/erpc_threading_pthreads.cpp
+	packages/erpc-1.14.0/erpc_c/transports/erpc_usb_cdc_transport.cpp
+	packages/erpc-1.14.0/erpc_c/port/erpc_port_rtt.cpp
+	packages/erpc-1.14.0/erpc_c/infra/erpc_transport_arbitrator.cpp
 )
 
 SET(RT_FAL_SOURCES
 	rt-thread/components/fal/src/fal_rtt.c
+	rt-thread/components/fal/src/fal.c
 	rt-thread/components/fal/src/fal_flash.c
 	rt-thread/components/fal/src/fal_partition.c
-	rt-thread/components/fal/src/fal.c
 )
 
 SET(RT_FILESYSTEM_SOURCES
@@ -244,8 +244,8 @@ SET(RT_FINSH_SOURCES
 	rt-thread/components/finsh/cmd.c
 	rt-thread/components/finsh/msh_file.c
 	rt-thread/components/finsh/msh.c
-	rt-thread/components/finsh/shell.c
 	rt-thread/components/finsh/msh_parse.c
+	rt-thread/components/finsh/shell.c
 )
 
 SET(RT_KERNEL_SOURCES
@@ -268,15 +268,15 @@ SET(RT_KERNEL_SOURCES
 
 SET(RT_KLIBC_SOURCES
 	rt-thread/src/klibc/kerrno.c
-	rt-thread/src/klibc/kstdio.c
-	rt-thread/src/klibc/kstring.c
 	rt-thread/src/klibc/rt_vsscanf.c
+	rt-thread/src/klibc/kstring.c
+	rt-thread/src/klibc/kstdio.c
 )
 
 SET(RT_KTIME_SOURCES
-	rt-thread/components/drivers/ktime/src/cputimer.c
 	rt-thread/components/drivers/ktime/src/hrtimer.c
 	rt-thread/components/drivers/ktime/src/boottime.c
+	rt-thread/components/drivers/ktime/src/cputimer.c
 )
 
 SET(RT_LIBCPU_SOURCES
@@ -290,44 +290,44 @@ SET(RT_LIBCPU_SOURCES
 
 SET(RT_LIBRARIES_SOURCES
 	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cryp.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rng.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr_ex.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_sram.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc_ex.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim_ex.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_mdma.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cryp_ex.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.c
 	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_gpio.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_nor.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_crc.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash_ex.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_usart.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cryp.c
 	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cec.c
 	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_nor.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc_ex.c
+	libraries/STM32H7xx_HAL/CMSIS/Device/ST/STM32H7xx/Source/Templates/system_stm32h7xx.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_lptim.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_qspi.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_crc_ex.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_mdma.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc.c
 	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c
 	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma_ex.c
-	libraries/STM32H7xx_HAL/CMSIS/Device/ST/STM32H7xx/Source/Templates/system_stm32h7xx.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr_ex.c
 	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_comp.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_crc.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_lptim.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cryp_ex.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_sram.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rng.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim_ex.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_usart.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_crc_ex.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash_ex.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_qspi.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.c
 )
 
 SET(RT_LITTLEFS_SOURCES
 	packages/littlefs-latest/lfs.c
-	packages/littlefs-latest/dfs_lfs.c
 	packages/littlefs-latest/lfs_crc.c
 	packages/littlefs-latest/lfs_util.c
+	packages/littlefs-latest/dfs_lfs.c
 )
 
 SET(RT_POSIX_SOURCES
@@ -345,10 +345,10 @@ SET(RT_POSIX_SOURCES
 )
 
 SET(RT_SERVO_CONTROL_SOURCES
-	applications/servo_manager/src/servo_driver.cpp
-	applications/servo_manager/src/servo_manager.cpp
 	applications/servo_manager/src/servo_control.cpp
 	applications/servo_manager/src/servo_config.cpp
+	applications/servo_manager/src/servo_manager.cpp
+	applications/servo_manager/src/servo_driver.cpp
 )
 
 SET(RT_UTC_UTEST_SOURCES

applications/config/servo_config.json

@@ -1,47 +1,89 @@
 {
   "version": 1,
-  "servo_count": 2,
+  "servo_count": 4,
   "servos": [
     {
       "id": "eye_l_up",
-      "limit_min_angle_rad": -1.5707963,
+      "limit_min_angle_rad": -0.8,
-      "limit_max_angle_rad": 1.5707963,
+      "limit_max_angle_rad": 0,
-      "home_angle_rad": 0.0,
+      "home_angle_rad": 0,
       "driver": {
-        "pwm_dev_name": "pwm1",
-        "pwm_channel": 1,
         "period_ns": 20000000,
         "min_pulse_ns": 500000,
         "max_pulse_ns": 2500000,
         "min_angle_rad": -1.5707963,
-        "max_angle_rad": 1.5707963
+        "max_angle_rad": 1.5707963,
+        "pwm_dev_name": "pwm1",
+        "pwm_channel": 1
       },
       "control": {
-        "max_velocity_rad": 6.28,
+        "max_velocity_rad": 20,
-        "max_acceleration_rad": 100.0,
+        "max_acceleration_rad": 1000.0,
         "max_jerk_rad": 500.0,
-        "position_gain": 8.0
+        "position_gain": 4.5
       }
     },
     {
-      "id": "eye_r_up",
+      "id": "eye_l_lower",
-      "limit_min_angle_rad": -1.5707963,
+      "limit_min_angle_rad": -1,
-      "limit_max_angle_rad": 1.5707963,
+      "limit_max_angle_rad": -0.2,
-      "home_angle_rad": 0.0,
+      "home_angle_rad": -1,
       "driver": {
-        "pwm_dev_name": "pwm1",
-        "pwm_channel": 2,
         "period_ns": 20000000,
         "min_pulse_ns": 500000,
         "max_pulse_ns": 2500000,
         "min_angle_rad": -1.5707963,
-        "max_angle_rad": 1.5707963
+        "max_angle_rad": 1.5707963,
+        "pwm_dev_name": "pwm1",
+        "pwm_channel": 2
       },
       "control": {
-        "max_velocity_rad": 6.28,
+        "max_velocity_rad": 20,
-        "max_acceleration_rad": 100.0,
+        "max_acceleration_rad": 1000.0,
         "max_jerk_rad": 500.0,
-        "position_gain": 8.0
+        "position_gain": 4.5
+      }
+    },
+    {
+      "id": "eye_l_v",
+      "limit_min_angle_rad": -0.85,
+      "limit_max_angle_rad": 0.85,
+      "home_angle_rad": 0,
+      "driver": {
+        "period_ns": 20000000,
+        "min_pulse_ns": 500000,
+        "max_pulse_ns": 2500000,
+        "min_angle_rad": -1.5707963,
+        "max_angle_rad": 1.5707963,
+        "pwm_dev_name": "pwm1",
+        "pwm_channel": 3
+      },
+      "control": {
+        "max_velocity_rad": 20,
+        "max_acceleration_rad": 1000.0,
+        "max_jerk_rad": 500.0,
+        "position_gain": 4.5
+      }
+    },
+    {
+      "id": "eye_l_h",
+      "limit_min_angle_rad": -0.65,
+      "limit_max_angle_rad": 0.7,
+      "home_angle_rad": 0,
+      "driver": {
+        "period_ns": 20000000,
+        "min_pulse_ns": 500000,
+        "max_pulse_ns": 2500000,
+        "min_angle_rad": -1.5707963,
+        "max_angle_rad": 1.5707963,
+        "pwm_dev_name": "pwm1",
+        "pwm_channel": 4
+      },
+      "control": {
+        "max_velocity_rad": 20,
+        "max_acceleration_rad": 1000.0,
+        "max_jerk_rad": 500.0,
+        "position_gain": 4.5
       }
     }
   ]

applications/config/servo_config.yaml

@@ -0,0 +1,60 @@
+version: 1
+servo_count: 4
+
+default_driver: &default_driver
+  period_ns: 20000000
+  min_pulse_ns: 500000
+  max_pulse_ns: 2500000
+  min_angle_rad: -1.5707963
+  max_angle_rad: 1.5707963
+
+default_control: &default_control
+  max_velocity_rad: 20
+  max_acceleration_rad: 1000.0
+  max_jerk_rad: 500.0
+  position_gain: 4.5
+
+servos:
+  - id: eye_l_up
+    limit_min_angle_rad: -0.8
+    limit_max_angle_rad: 0
+    home_angle_rad: 0
+    driver:
+      <<: *default_driver
+      pwm_dev_name: pwm1
+      pwm_channel: 1
+    control:
+      <<: *default_control
+
+  - id: eye_l_lower
+    limit_min_angle_rad: -1
+    limit_max_angle_rad: -0.2
+    home_angle_rad: -1
+    driver:
+      <<: *default_driver
+      pwm_dev_name: pwm1
+      pwm_channel: 2
+    control:
+      <<: *default_control
+
+  - id: eye_l_v
+    limit_min_angle_rad: -0.85
+    limit_max_angle_rad: 0.85
+    home_angle_rad: 0
+    driver:
+      <<: *default_driver
+      pwm_dev_name: pwm1
+      pwm_channel: 3
+    control:
+      <<: *default_control
+
+  - id: eye_l_h
+    limit_min_angle_rad: -0.65
+    limit_max_angle_rad: 0.7
+    home_angle_rad: 0
+    driver:
+      <<: *default_driver
+      pwm_dev_name: pwm1
+      pwm_channel: 4
+    control:
+      <<: *default_control

applications/config/yaml_to_json.py

@@ -0,0 +1,18 @@
+import json
+import yaml
+from pathlib import Path
+
+input_file = Path("servo_config.yaml")
+output_file = Path("servo_config.json")
+
+with input_file.open("r", encoding="utf-8") as f:
+    data = yaml.safe_load(f)
+
+# 删除只用于 YAML 复用的辅助字段
+data.pop("default_driver", None)
+data.pop("default_control", None)
+
+with output_file.open("w", encoding="utf-8") as f:
+    json.dump(data, f, indent=2, ensure_ascii=False)
+
+print(f"Generated {output_file}")

applications/servo_manager/src/servo_control.cpp

@@ -25,7 +25,7 @@ ServoControl::ServoControl(const ServoConfig& cfg)
       start_tick_(0),
       last_update_tick_(0),
       generation_(0),
-      active_mode_(MotionMode::Immediate),
+      active_mode_(MotionMode::Follow),
       active_(false),
       dirty_(false),
       profile_(),
@@ -69,7 +69,7 @@ rt_err_t ServoControl::init(bool enable_after_init, bool go_home)
     start_tick_ = now_tick;
     last_update_tick_ = now_tick;
     generation_ = 0;
-    active_mode_ = MotionMode::Immediate;
+    active_mode_ = MotionMode::Follow;
     active_ = false;
     dirty_ = false;
     profile_ = cmvr::SCurveProfile();
@@ -198,7 +198,7 @@ rt_err_t ServoControl::stop()
     current_velocity_rad_per_sec_ = 0.0f;
     start_tick_ = now_tick;
     last_update_tick_ = now_tick;
-    active_mode_ = MotionMode::Immediate;
+    active_mode_ = MotionMode::Follow;
     active_ = false;
     dirty_ = false;
 

board/CubeMX_Config/CubeMX_Config.ioc

@@ -1,13 +1,4 @@
 #MicroXplorer Configuration settings - do not modify
-ADC1.Channel-1\#ChannelRegularConversion=ADC_CHANNEL_5
-ADC1.IPParameters=Rank-1\#ChannelRegularConversion,master,Channel-1\#ChannelRegularConversion,SamplingTime-1\#ChannelRegularConversion,OffsetNumber-1\#ChannelRegularConversion,OffsetSignedSaturation-1\#ChannelRegularConversion,NbrOfConversionFlag,Resolution
-ADC1.NbrOfConversionFlag=1
-ADC1.OffsetNumber-1\#ChannelRegularConversion=ADC_OFFSET_NONE
-ADC1.OffsetSignedSaturation-1\#ChannelRegularConversion=DISABLE
-ADC1.Rank-1\#ChannelRegularConversion=1
-ADC1.Resolution=ADC_RESOLUTION_16B
-ADC1.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_1CYCLE_5
-ADC1.master=1
 CAD.formats=
 CAD.pinconfig=
 CAD.provider=
@@ -21,52 +12,79 @@ MMTConfigApplied=false
 MMTSectionSuffix=
 Mcu.CPN=STM32H750XBH6
 Mcu.Family=STM32H7
-Mcu.IP0=ADC1
+Mcu.IP0=CORTEX_M7
-Mcu.IP1=CORTEX_M7
+Mcu.IP1=DEBUG
-Mcu.IP10=USART2
+Mcu.IP10=TIM4
-Mcu.IP11=USART3
+Mcu.IP11=TIM5
-Mcu.IP12=USB_DEVICE
+Mcu.IP12=TIM8
-Mcu.IP13=USB_OTG_FS
+Mcu.IP13=TIM12
-Mcu.IP2=DEBUG
+Mcu.IP14=TIM15
-Mcu.IP3=MEMORYMAP
+Mcu.IP15=USART1
-Mcu.IP4=NVIC
+Mcu.IP16=USART2
-Mcu.IP5=QUADSPI
+Mcu.IP17=USART3
-Mcu.IP6=RCC
+Mcu.IP18=USB_DEVICE
-Mcu.IP7=SYS
+Mcu.IP19=USB_OTG_FS
-Mcu.IP8=TIM1
+Mcu.IP2=MEMORYMAP
-Mcu.IP9=USART1
+Mcu.IP3=NVIC
-Mcu.IPNb=14
+Mcu.IP4=QUADSPI
+Mcu.IP5=RCC
+Mcu.IP6=SYS
+Mcu.IP7=TIM1
+Mcu.IP8=TIM2
+Mcu.IP9=TIM3
+Mcu.IPNb=20
 Mcu.Name=STM32H750XBHx
 Mcu.Package=TFBGA240
-Mcu.Pin0=PD5
+Mcu.Pin0=PB5
-Mcu.Pin1=PD6
+Mcu.Pin1=PD5
-Mcu.Pin10=PG6
+Mcu.Pin10=PB3 (JTDO/TRACESWO)
-Mcu.Pin11=PH1-OSC_OUT (PH1)
+Mcu.Pin11=PA13 (JTMS/SWDIO)
-Mcu.Pin12=PH0-OSC_IN (PH0)
+Mcu.Pin12=PE5
-Mcu.Pin13=PF7
+Mcu.Pin13=PB9
-Mcu.Pin14=PF8
+Mcu.Pin14=PB8
-Mcu.Pin15=PF10
+Mcu.Pin15=PA10
-Mcu.Pin16=PF9
+Mcu.Pin16=PA9
-Mcu.Pin17=PE9
+Mcu.Pin17=PE6
-Mcu.Pin18=PE11
+Mcu.Pin18=PA12
-Mcu.Pin19=PB1
+Mcu.Pin19=PA11
-Mcu.Pin2=PA14 (JTCK/SWCLK)
+Mcu.Pin2=PA15 (JTDI)
-Mcu.Pin20=PE13
+Mcu.Pin20=PC7
-Mcu.Pin21=PD9
+Mcu.Pin21=PC6
-Mcu.Pin22=PE14
+Mcu.Pin22=PG6
-Mcu.Pin23=PD8
+Mcu.Pin23=PH1-OSC_OUT (PH1)
-Mcu.Pin24=VP_SYS_VS_Systick
+Mcu.Pin24=PH0-OSC_IN (PH0)
-Mcu.Pin25=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin25=PF7
-Mcu.Pin26=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
+Mcu.Pin26=PF8
-Mcu.Pin27=VP_MEMORYMAP_VS_MEMORYMAP
+Mcu.Pin27=PF10
-Mcu.Pin3=PC15-OSC32_OUT (OSC32_OUT)
+Mcu.Pin28=PF9
-Mcu.Pin4=PC14-OSC32_IN (OSC32_IN)
+Mcu.Pin29=PA2
-Mcu.Pin5=PA13 (JTMS/SWDIO)
+Mcu.Pin3=PB6
-Mcu.Pin6=PA10
+Mcu.Pin30=PA1
-Mcu.Pin7=PA9
+Mcu.Pin31=PA0
-Mcu.Pin8=PA12
+Mcu.Pin32=PE9
-Mcu.Pin9=PA11
+Mcu.Pin33=PE11
-Mcu.PinsNb=28
+Mcu.Pin34=PB10
+Mcu.Pin35=PB11
+Mcu.Pin36=PB1
+Mcu.Pin37=PE13
+Mcu.Pin38=PH6
+Mcu.Pin39=PB15
+Mcu.Pin4=PB4 (NJTRST)
+Mcu.Pin40=PD9
+Mcu.Pin41=PA3
+Mcu.Pin42=PB0
+Mcu.Pin43=PE14
+Mcu.Pin44=PD8
+Mcu.Pin45=VP_SYS_VS_Systick
+Mcu.Pin46=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin47=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
+Mcu.Pin48=VP_MEMORYMAP_VS_MEMORYMAP
+Mcu.Pin5=PD6
+Mcu.Pin6=PA14 (JTCK/SWCLK)
+Mcu.Pin7=PC15-OSC32_OUT (OSC32_OUT)
+Mcu.Pin8=PC14-OSC32_IN (OSC32_IN)
+Mcu.Pin9=PB7
+Mcu.PinsNb=49
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32H750XBHx
@@ -84,6 +102,8 @@ NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:false
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+PA0.Signal=S_TIM5_CH1
+PA1.Signal=S_TIM5_CH2
 PA10.Locked=true
 PA10.Mode=Asynchronous
 PA10.Signal=USART1_RX
@@ -101,14 +121,37 @@ PA13\ (JTMS/SWDIO).Mode=Serial_Wire
 PA13\ (JTMS/SWDIO).Signal=DEBUG_JTMS-SWDIO
 PA14\ (JTCK/SWCLK).Mode=Serial_Wire
 PA14\ (JTCK/SWCLK).Signal=DEBUG_JTCK-SWCLK
+PA15\ (JTDI).Signal=S_TIM2_CH1_ETR
+PA2.Signal=S_TIM5_CH3
+PA3.Locked=true
+PA3.Signal=S_TIM5_CH4
 PA9.Locked=true
 PA9.Mode=Asynchronous
 PA9.Signal=USART1_TX
-PB1.Signal=ADCx_INP5
+PB0.Locked=true
+PB0.Signal=S_TIM3_CH3
+PB1.Locked=true
+PB1.Signal=S_TIM3_CH4
+PB10.Locked=true
+PB10.Signal=S_TIM2_CH3
+PB11.Signal=S_TIM2_CH4
+PB15.Locked=true
+PB15.Signal=S_TIM12_CH2
+PB3\ (JTDO/TRACESWO).Signal=S_TIM2_CH2
+PB4\ (NJTRST).Signal=S_TIM3_CH1
+PB5.Signal=S_TIM3_CH2
+PB6.Signal=S_TIM4_CH1
+PB7.Signal=S_TIM4_CH2
+PB8.Signal=S_TIM4_CH3
+PB9.Signal=S_TIM4_CH4
 PC14-OSC32_IN\ (OSC32_IN).Mode=LSE-External-Oscillator
 PC14-OSC32_IN\ (OSC32_IN).Signal=RCC_OSC32_IN
 PC15-OSC32_OUT\ (OSC32_OUT).Mode=LSE-External-Oscillator
 PC15-OSC32_OUT\ (OSC32_OUT).Signal=RCC_OSC32_OUT
+PC6.Locked=true
+PC6.Signal=S_TIM8_CH1
+PC7.Locked=true
+PC7.Signal=S_TIM8_CH2
 PD5.Mode=Asynchronous
 PD5.Signal=USART2_TX
 PD6.Mode=Asynchronous
@@ -124,6 +167,8 @@ PE11.Signal=S_TIM1_CH2
 PE13.Locked=true
 PE13.Signal=S_TIM1_CH3
 PE14.Signal=S_TIM1_CH4
+PE5.Signal=S_TIM15_CH1
+PE6.Signal=S_TIM15_CH2
 PE9.Locked=true
 PE9.Signal=S_TIM1_CH1
 PF10.Mode=Single Bank 1 2IOs
@@ -143,6 +188,7 @@ PH0-OSC_IN\ (PH0).Mode=HSE-External-Oscillator
 PH0-OSC_IN\ (PH0).Signal=RCC_OSC_IN
 PH1-OSC_OUT\ (PH1).Mode=HSE-External-Oscillator
 PH1-OSC_OUT\ (PH1).Signal=RCC_OSC_OUT
+PH6.Signal=S_TIM12_CH1
 PinOutPanel.CurrentBGAView=Top
 PinOutPanel.RotationAngle=0
 ProjectManager.AskForMigrate=true
@@ -177,7 +223,7 @@ ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_USART1_UART_Init-USART1-false-HAL-true,4-MX_USART2_UART_Init-USART2-false-HAL-true,5-MX_USART3_UART_Init-USART3-false-HAL-true,6-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,7-MX_QUADSPI_Init-QUADSPI-false-HAL-true,8-MX_TIM1_Init-TIM1-false-HAL-true,9-MX_ADC1_Init-ADC1-false-HAL-true,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_USART1_UART_Init-USART1-false-HAL-true,4-MX_USART2_UART_Init-USART2-false-HAL-true,5-MX_USART3_UART_Init-USART3-false-HAL-true,6-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,7-MX_QUADSPI_Init-QUADSPI-false-HAL-true,8-MX_TIM1_Init-TIM1-false-HAL-true,9-MX_ADC1_Init-ADC1-false-HAL-true,10-MX_TIM2_Init-TIM2-false-HAL-true,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true
 QUADSPI.ChipSelectHighTime=QSPI_CS_HIGH_TIME_5_CYCLE
 QUADSPI.ClockPrescaler=5
 QUADSPI.FifoThreshold=4
@@ -266,8 +312,14 @@ RCC.VCO3OutputFreq_Value=100781250
 RCC.VCOInput1Freq_Value=5000000
 RCC.VCOInput2Freq_Value=12500000
 RCC.VCOInput3Freq_Value=781250
-SH.ADCx_INP5.0=ADC1_INP5,IN5-Single-Ended
+SH.S_TIM12_CH1.0=TIM12_CH1,PWM Generation1 CH1
-SH.ADCx_INP5.ConfNb=1
+SH.S_TIM12_CH1.ConfNb=1
+SH.S_TIM12_CH2.0=TIM12_CH2,PWM Generation2 CH2
+SH.S_TIM12_CH2.ConfNb=1
+SH.S_TIM15_CH1.0=TIM15_CH1,PWM Generation1 CH1
+SH.S_TIM15_CH1.ConfNb=1
+SH.S_TIM15_CH2.0=TIM15_CH2,PWM Generation2 CH2
+SH.S_TIM15_CH2.ConfNb=1
 SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1
 SH.S_TIM1_CH1.ConfNb=1
 SH.S_TIM1_CH2.0=TIM1_CH2,PWM Generation2 CH2
@@ -276,11 +328,76 @@ SH.S_TIM1_CH3.0=TIM1_CH3,PWM Generation3 CH3
 SH.S_TIM1_CH3.ConfNb=1
 SH.S_TIM1_CH4.0=TIM1_CH4,PWM Generation4 CH4
 SH.S_TIM1_CH4.ConfNb=1
+SH.S_TIM2_CH1_ETR.0=TIM2_CH1,PWM Generation1 CH1
+SH.S_TIM2_CH1_ETR.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,Output Compare3 CH3
+SH.S_TIM2_CH3.ConfNb=1
+SH.S_TIM2_CH4.0=TIM2_CH4,Output Compare4 CH4
+SH.S_TIM2_CH4.ConfNb=1
+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
+SH.S_TIM3_CH3.0=TIM3_CH3,PWM Generation3 CH3
+SH.S_TIM3_CH3.ConfNb=1
+SH.S_TIM3_CH4.0=TIM3_CH4,PWM Generation4 CH4
+SH.S_TIM3_CH4.ConfNb=1
+SH.S_TIM4_CH1.0=TIM4_CH1,PWM Generation1 CH1
+SH.S_TIM4_CH1.ConfNb=1
+SH.S_TIM4_CH2.0=TIM4_CH2,PWM Generation2 CH2
+SH.S_TIM4_CH2.ConfNb=1
+SH.S_TIM4_CH3.0=TIM4_CH3,PWM Generation3 CH3
+SH.S_TIM4_CH3.ConfNb=1
+SH.S_TIM4_CH4.0=TIM4_CH4,PWM Generation4 CH4
+SH.S_TIM4_CH4.ConfNb=1
+SH.S_TIM5_CH1.0=TIM5_CH1,PWM Generation1 CH1
+SH.S_TIM5_CH1.ConfNb=1
+SH.S_TIM5_CH2.0=TIM5_CH2,PWM Generation2 CH2
+SH.S_TIM5_CH2.ConfNb=1
+SH.S_TIM5_CH3.0=TIM5_CH3,PWM Generation3 CH3
+SH.S_TIM5_CH3.ConfNb=1
+SH.S_TIM5_CH4.0=TIM5_CH4,PWM Generation4 CH4
+SH.S_TIM5_CH4.ConfNb=1
+SH.S_TIM8_CH1.0=TIM8_CH1,PWM Generation1 CH1
+SH.S_TIM8_CH1.ConfNb=1
+SH.S_TIM8_CH2.0=TIM8_CH2,PWM Generation2 CH2
+SH.S_TIM8_CH2.ConfNb=1
 TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
 TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
 TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
 TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
 TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4
+TIM12.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM12.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
+TIM12.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2
+TIM15.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM15.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
+TIM15.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2
+TIM2.Channel-Output\ Compare3\ CH3=TIM_CHANNEL_3
+TIM2.Channel-Output\ Compare4\ CH4=TIM_CHANNEL_4
+TIM2.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM2.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
+TIM2.IPParameters=Channel-Output Compare3 CH3,Channel-Output Compare4 CH4,Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2
+TIM3.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM3.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
+TIM3.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
+TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
+TIM3.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4
+TIM4.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM4.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
+TIM4.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
+TIM4.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
+TIM4.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4
+TIM5.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM5.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
+TIM5.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
+TIM5.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
+TIM5.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4
+TIM8.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM8.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
+TIM8.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2
 USART1.IPParameters=VirtualMode-Asynchronous
 USART1.VirtualMode-Asynchronous=VM_ASYNC
 USART2.IPParameters=VirtualMode-Asynchronous

board/CubeMX_Config/Inc/stm32h7xx_hal_conf.h

@@ -34,7 +34,7 @@
   */
 #define HAL_MODULE_ENABLED
 
-  #define HAL_ADC_MODULE_ENABLED
+  /* #define HAL_ADC_MODULE_ENABLED   */
 /* #define HAL_FDCAN_MODULE_ENABLED   */
 /* #define HAL_FMAC_MODULE_ENABLED   */
 /* #define HAL_CEC_MODULE_ENABLED   */

board/CubeMX_Config/Src/main.c

@@ -41,11 +41,17 @@
 /* USER CODE END PM */
 
 /* Private variables ---------------------------------------------------------*/
-ADC_HandleTypeDef hadc1;
 
 QSPI_HandleTypeDef hqspi;
 
 TIM_HandleTypeDef htim1;
+TIM_HandleTypeDef htim2;
+TIM_HandleTypeDef htim3;
+TIM_HandleTypeDef htim4;
+TIM_HandleTypeDef htim5;
+TIM_HandleTypeDef htim8;
+TIM_HandleTypeDef htim12;
+TIM_HandleTypeDef htim15;
 
 UART_HandleTypeDef huart1;
 UART_HandleTypeDef huart2;
@@ -64,7 +70,13 @@ static void MX_USART2_UART_Init(void);
 static void MX_USART3_UART_Init(void);
 static void MX_QUADSPI_Init(void);
 static void MX_TIM1_Init(void);
-static void MX_ADC1_Init(void);
+static void MX_TIM2_Init(void);
+static void MX_TIM3_Init(void);
+static void MX_TIM4_Init(void);
+static void MX_TIM5_Init(void);
+static void MX_TIM8_Init(void);
+static void MX_TIM12_Init(void);
+static void MX_TIM15_Init(void);
 /* USER CODE BEGIN PFP */
 
 /* USER CODE END PFP */
@@ -112,7 +124,13 @@ int main(void)
   MX_USB_DEVICE_Init();
   MX_QUADSPI_Init();
   MX_TIM1_Init();
-  MX_ADC1_Init();
+  MX_TIM2_Init();
+  MX_TIM3_Init();
+  MX_TIM4_Init();
+  MX_TIM5_Init();
+  MX_TIM8_Init();
+  MX_TIM12_Init();
+  MX_TIM15_Init();
   /* USER CODE BEGIN 2 */
 
   /* USER CODE END 2 */
@@ -186,75 +204,6 @@ void SystemClock_Config(void)
   }
 }
 
-/**
-  * @brief ADC1 Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_ADC1_Init(void)
-{
-
-  /* USER CODE BEGIN ADC1_Init 0 */
-
-  /* USER CODE END ADC1_Init 0 */
-
-  ADC_MultiModeTypeDef multimode = {0};
-  ADC_ChannelConfTypeDef sConfig = {0};
-
-  /* USER CODE BEGIN ADC1_Init 1 */
-
-  /* USER CODE END ADC1_Init 1 */
-
-  /** Common config
-  */
-  hadc1.Instance = ADC1;
-  hadc1.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;
-  hadc1.Init.Resolution = ADC_RESOLUTION_16B;
-  hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
-  hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
-  hadc1.Init.LowPowerAutoWait = DISABLE;
-  hadc1.Init.ContinuousConvMode = DISABLE;
-  hadc1.Init.NbrOfConversion = 1;
-  hadc1.Init.DiscontinuousConvMode = DISABLE;
-  hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
-  hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
-  hadc1.Init.ConversionDataManagement = ADC_CONVERSIONDATA_DR;
-  hadc1.Init.Overrun = ADC_OVR_DATA_PRESERVED;
-  hadc1.Init.LeftBitShift = ADC_LEFTBITSHIFT_NONE;
-  hadc1.Init.OversamplingMode = DISABLE;
-  hadc1.Init.Oversampling.Ratio = 1;
-  if (HAL_ADC_Init(&hadc1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  /** Configure the ADC multi-mode
-  */
-  multimode.Mode = ADC_MODE_INDEPENDENT;
-  if (HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  /** Configure Regular Channel
-  */
-  sConfig.Channel = ADC_CHANNEL_5;
-  sConfig.Rank = ADC_REGULAR_RANK_1;
-  sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
-  sConfig.SingleDiff = ADC_SINGLE_ENDED;
-  sConfig.OffsetNumber = ADC_OFFSET_NONE;
-  sConfig.Offset = 0;
-  sConfig.OffsetSignedSaturation = DISABLE;
-  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN ADC1_Init 2 */
-
-  /* USER CODE END ADC1_Init 2 */
-
-}
-
 /**
   * @brief QUADSPI Initialization Function
   * @param None
@@ -382,6 +331,452 @@ static void MX_TIM1_Init(void)
 
 }
 
+/**
+  * @brief TIM2 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM2_Init(void)
+{
+
+  /* USER CODE BEGIN TIM2_Init 0 */
+
+  /* USER CODE END TIM2_Init 0 */
+
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM2_Init 1 */
+
+  /* USER CODE END TIM2_Init 1 */
+  htim2.Instance = TIM2;
+  htim2.Init.Prescaler = 0;
+  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim2.Init.Period = 4294967295;
+  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_OC_Init(&htim2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_TIMING;
+  if (HAL_TIM_OC_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_OC_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM2_Init 2 */
+
+  /* USER CODE END TIM2_Init 2 */
+  HAL_TIM_MspPostInit(&htim2);
+
+}
+
+/**
+  * @brief TIM3 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM3_Init(void)
+{
+
+  /* USER CODE BEGIN TIM3_Init 0 */
+
+  /* USER CODE END TIM3_Init 0 */
+
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM3_Init 1 */
+
+  /* USER CODE END TIM3_Init 1 */
+  htim3.Instance = TIM3;
+  htim3.Init.Prescaler = 0;
+  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim3.Init.Period = 65535;
+  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM3_Init 2 */
+
+  /* USER CODE END TIM3_Init 2 */
+  HAL_TIM_MspPostInit(&htim3);
+
+}
+
+/**
+  * @brief TIM4 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM4_Init(void)
+{
+
+  /* USER CODE BEGIN TIM4_Init 0 */
+
+  /* USER CODE END TIM4_Init 0 */
+
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM4_Init 1 */
+
+  /* USER CODE END TIM4_Init 1 */
+  htim4.Instance = TIM4;
+  htim4.Init.Prescaler = 0;
+  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim4.Init.Period = 65535;
+  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM4_Init 2 */
+
+  /* USER CODE END TIM4_Init 2 */
+  HAL_TIM_MspPostInit(&htim4);
+
+}
+
+/**
+  * @brief TIM5 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM5_Init(void)
+{
+
+  /* USER CODE BEGIN TIM5_Init 0 */
+
+  /* USER CODE END TIM5_Init 0 */
+
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM5_Init 1 */
+
+  /* USER CODE END TIM5_Init 1 */
+  htim5.Instance = TIM5;
+  htim5.Init.Prescaler = 0;
+  htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim5.Init.Period = 4294967295;
+  htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim5.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_PWM_Init(&htim5) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim5, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM5_Init 2 */
+
+  /* USER CODE END TIM5_Init 2 */
+  HAL_TIM_MspPostInit(&htim5);
+
+}
+
+/**
+  * @brief TIM8 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM8_Init(void)
+{
+
+  /* USER CODE BEGIN TIM8_Init 0 */
+
+  /* USER CODE END TIM8_Init 0 */
+
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+
+  /* USER CODE BEGIN TIM8_Init 1 */
+
+  /* USER CODE END TIM8_Init 1 */
+  htim8.Instance = TIM8;
+  htim8.Init.Prescaler = 0;
+  htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim8.Init.Period = 65535;
+  htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim8.Init.RepetitionCounter = 0;
+  htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_PWM_Init(&htim8) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != 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(&htim8, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_2) != 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.BreakFilter = 0;
+  sBreakDeadTimeConfig.Break2State = TIM_BREAK2_DISABLE;
+  sBreakDeadTimeConfig.Break2Polarity = TIM_BREAK2POLARITY_HIGH;
+  sBreakDeadTimeConfig.Break2Filter = 0;
+  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+  if (HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM8_Init 2 */
+
+  /* USER CODE END TIM8_Init 2 */
+  HAL_TIM_MspPostInit(&htim8);
+
+}
+
+/**
+  * @brief TIM12 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM12_Init(void)
+{
+
+  /* USER CODE BEGIN TIM12_Init 0 */
+
+  /* USER CODE END TIM12_Init 0 */
+
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM12_Init 1 */
+
+  /* USER CODE END TIM12_Init 1 */
+  htim12.Instance = TIM12;
+  htim12.Init.Prescaler = 0;
+  htim12.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim12.Init.Period = 65535;
+  htim12.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim12.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_PWM_Init(&htim12) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim12, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim12, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim12, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM12_Init 2 */
+
+  /* USER CODE END TIM12_Init 2 */
+  HAL_TIM_MspPostInit(&htim12);
+
+}
+
+/**
+  * @brief TIM15 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM15_Init(void)
+{
+
+  /* USER CODE BEGIN TIM15_Init 0 */
+
+  /* USER CODE END TIM15_Init 0 */
+
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+
+  /* USER CODE BEGIN TIM15_Init 1 */
+
+  /* USER CODE END TIM15_Init 1 */
+  htim15.Instance = TIM15;
+  htim15.Init.Prescaler = 0;
+  htim15.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim15.Init.Period = 65535;
+  htim15.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim15.Init.RepetitionCounter = 0;
+  htim15.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_PWM_Init(&htim15) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim15, &sMasterConfig) != 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(&htim15, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim15, &sConfigOC, TIM_CHANNEL_2) != 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.BreakFilter = 0;
+  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+  if (HAL_TIMEx_ConfigBreakDeadTime(&htim15, &sBreakDeadTimeConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM15_Init 2 */
+
+  /* USER CODE END TIM15_Init 2 */
+  HAL_TIM_MspPostInit(&htim15);
+
+}
+
 /**
   * @brief USART1 Initialization Function
   * @param None
@@ -538,14 +933,14 @@ static void MX_GPIO_Init(void)
   /* USER CODE END MX_GPIO_Init_1 */
 
   /* GPIO Ports Clock Enable */
+  __HAL_RCC_GPIOB_CLK_ENABLE();
   __HAL_RCC_GPIOD_CLK_ENABLE();
   __HAL_RCC_GPIOA_CLK_ENABLE();
   __HAL_RCC_GPIOC_CLK_ENABLE();
+  __HAL_RCC_GPIOE_CLK_ENABLE();
   __HAL_RCC_GPIOG_CLK_ENABLE();
   __HAL_RCC_GPIOH_CLK_ENABLE();
   __HAL_RCC_GPIOF_CLK_ENABLE();
-  __HAL_RCC_GPIOE_CLK_ENABLE();
-  __HAL_RCC_GPIOB_CLK_ENABLE();
 
   /* USER CODE BEGIN MX_GPIO_Init_2 */
 

board/CubeMX_Config/Src/stm32h7xx_hal_msp.c

@@ -59,7 +59,7 @@
 /* USER CODE END 0 */
 
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
-                    /**
+                                                                                                                                                                /**
   * Initializes the Global MSP.
   */
 void HAL_MspInit(void)
@@ -78,87 +78,6 @@ void HAL_MspInit(void)
   /* USER CODE END MspInit 1 */
 }
 
-/**
-  * @brief ADC MSP Initialization
-  * This function configures the hardware resources used in this example
-  * @param hadc: ADC handle pointer
-  * @retval None
-  */
-void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
-{
-  GPIO_InitTypeDef GPIO_InitStruct = {0};
-  RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
-  if(hadc->Instance==ADC1)
-  {
-    /* USER CODE BEGIN ADC1_MspInit 0 */
-
-    /* USER CODE END ADC1_MspInit 0 */
-
-  /** Initializes the peripherals clock
-  */
-    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_ADC;
-    PeriphClkInitStruct.PLL2.PLL2M = 2;
-    PeriphClkInitStruct.PLL2.PLL2N = 12;
-    PeriphClkInitStruct.PLL2.PLL2P = 2;
-    PeriphClkInitStruct.PLL2.PLL2Q = 2;
-    PeriphClkInitStruct.PLL2.PLL2R = 2;
-    PeriphClkInitStruct.PLL2.PLL2RGE = RCC_PLL2VCIRANGE_3;
-    PeriphClkInitStruct.PLL2.PLL2VCOSEL = RCC_PLL2VCOMEDIUM;
-    PeriphClkInitStruct.PLL2.PLL2FRACN = 0;
-    PeriphClkInitStruct.AdcClockSelection = RCC_ADCCLKSOURCE_PLL2;
-    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
-    {
-      Error_Handler();
-    }
-
-    /* Peripheral clock enable */
-    __HAL_RCC_ADC12_CLK_ENABLE();
-
-    __HAL_RCC_GPIOB_CLK_ENABLE();
-    /**ADC1 GPIO Configuration
-    PB1     ------> ADC1_INP5
-    */
-    GPIO_InitStruct.Pin = GPIO_PIN_1;
-    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
-    GPIO_InitStruct.Pull = GPIO_NOPULL;
-    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-
-    /* USER CODE BEGIN ADC1_MspInit 1 */
-
-    /* USER CODE END ADC1_MspInit 1 */
-
-  }
-
-}
-
-/**
-  * @brief ADC MSP De-Initialization
-  * This function freeze the hardware resources used in this example
-  * @param hadc: ADC handle pointer
-  * @retval None
-  */
-void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc)
-{
-  if(hadc->Instance==ADC1)
-  {
-    /* USER CODE BEGIN ADC1_MspDeInit 0 */
-
-    /* USER CODE END ADC1_MspDeInit 0 */
-    /* Peripheral clock disable */
-    __HAL_RCC_ADC12_CLK_DISABLE();
-
-    /**ADC1 GPIO Configuration
-    PB1     ------> ADC1_INP5
-    */
-    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_1);
-
-    /* USER CODE BEGIN ADC1_MspDeInit 1 */
-
-    /* USER CODE END ADC1_MspDeInit 1 */
-  }
-
-}
-
 /**
   * @brief QSPI MSP Initialization
   * This function configures the hardware resources used in this example
@@ -282,6 +201,94 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
 
 }
 
+/**
+  * @brief TIM_PWM MSP Initialization
+  * This function configures the hardware resources used in this example
+  * @param htim_pwm: TIM_PWM handle pointer
+  * @retval None
+  */
+void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* htim_pwm)
+{
+  if(htim_pwm->Instance==TIM2)
+  {
+    /* USER CODE BEGIN TIM2_MspInit 0 */
+
+    /* USER CODE END TIM2_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM2_CLK_ENABLE();
+    /* USER CODE BEGIN TIM2_MspInit 1 */
+
+    /* USER CODE END TIM2_MspInit 1 */
+  }
+  else if(htim_pwm->Instance==TIM3)
+  {
+    /* USER CODE BEGIN TIM3_MspInit 0 */
+
+    /* USER CODE END TIM3_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM3_CLK_ENABLE();
+    /* USER CODE BEGIN TIM3_MspInit 1 */
+
+    /* USER CODE END TIM3_MspInit 1 */
+  }
+  else if(htim_pwm->Instance==TIM4)
+  {
+    /* USER CODE BEGIN TIM4_MspInit 0 */
+
+    /* USER CODE END TIM4_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM4_CLK_ENABLE();
+    /* USER CODE BEGIN TIM4_MspInit 1 */
+
+    /* USER CODE END TIM4_MspInit 1 */
+  }
+  else if(htim_pwm->Instance==TIM5)
+  {
+    /* USER CODE BEGIN TIM5_MspInit 0 */
+
+    /* USER CODE END TIM5_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM5_CLK_ENABLE();
+    /* USER CODE BEGIN TIM5_MspInit 1 */
+
+    /* USER CODE END TIM5_MspInit 1 */
+  }
+  else if(htim_pwm->Instance==TIM8)
+  {
+    /* USER CODE BEGIN TIM8_MspInit 0 */
+
+    /* USER CODE END TIM8_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM8_CLK_ENABLE();
+    /* USER CODE BEGIN TIM8_MspInit 1 */
+
+    /* USER CODE END TIM8_MspInit 1 */
+  }
+  else if(htim_pwm->Instance==TIM12)
+  {
+    /* USER CODE BEGIN TIM12_MspInit 0 */
+
+    /* USER CODE END TIM12_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM12_CLK_ENABLE();
+    /* USER CODE BEGIN TIM12_MspInit 1 */
+
+    /* USER CODE END TIM12_MspInit 1 */
+  }
+  else if(htim_pwm->Instance==TIM15)
+  {
+    /* USER CODE BEGIN TIM15_MspInit 0 */
+
+    /* USER CODE END TIM15_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM15_CLK_ENABLE();
+    /* USER CODE BEGIN TIM15_MspInit 1 */
+
+    /* USER CODE END TIM15_MspInit 1 */
+  }
+
+}
+
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
 {
   GPIO_InitTypeDef GPIO_InitStruct = {0};
@@ -290,7 +297,6 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
     /* USER CODE BEGIN TIM1_MspPostInit 0 */
 
     /* USER CODE END TIM1_MspPostInit 0 */
-
     __HAL_RCC_GPIOE_CLK_ENABLE();
     /**TIM1 GPIO Configuration
     PE9     ------> TIM1_CH1
@@ -309,6 +315,184 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
 
     /* USER CODE END TIM1_MspPostInit 1 */
   }
+  else if(htim->Instance==TIM2)
+  {
+    /* USER CODE BEGIN TIM2_MspPostInit 0 */
+
+    /* USER CODE END TIM2_MspPostInit 0 */
+
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    /**TIM2 GPIO Configuration
+    PA15 (JTDI)     ------> TIM2_CH1
+    PB3 (JTDO/TRACESWO)     ------> TIM2_CH2
+    PB10     ------> TIM2_CH3
+    PB11     ------> TIM2_CH4
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_15;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_10|GPIO_PIN_11;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+    /* USER CODE BEGIN TIM2_MspPostInit 1 */
+
+    /* USER CODE END TIM2_MspPostInit 1 */
+  }
+  else if(htim->Instance==TIM3)
+  {
+    /* USER CODE BEGIN TIM3_MspPostInit 0 */
+
+    /* USER CODE END TIM3_MspPostInit 0 */
+
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    /**TIM3 GPIO Configuration
+    PB5     ------> TIM3_CH2
+    PB4 (NJTRST)     ------> TIM3_CH1
+    PB1     ------> TIM3_CH4
+    PB0     ------> TIM3_CH3
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_4|GPIO_PIN_1|GPIO_PIN_0;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+    /* USER CODE BEGIN TIM3_MspPostInit 1 */
+
+    /* USER CODE END TIM3_MspPostInit 1 */
+  }
+  else if(htim->Instance==TIM4)
+  {
+    /* USER CODE BEGIN TIM4_MspPostInit 0 */
+
+    /* USER CODE END TIM4_MspPostInit 0 */
+
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    /**TIM4 GPIO Configuration
+    PB6     ------> TIM4_CH1
+    PB7     ------> TIM4_CH2
+    PB9     ------> TIM4_CH4
+    PB8     ------> TIM4_CH3
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7|GPIO_PIN_9|GPIO_PIN_8;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+    /* USER CODE BEGIN TIM4_MspPostInit 1 */
+
+    /* USER CODE END TIM4_MspPostInit 1 */
+  }
+  else if(htim->Instance==TIM5)
+  {
+    /* USER CODE BEGIN TIM5_MspPostInit 0 */
+
+    /* USER CODE END TIM5_MspPostInit 0 */
+
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**TIM5 GPIO Configuration
+    PA2     ------> TIM5_CH3
+    PA1     ------> TIM5_CH2
+    PA0     ------> TIM5_CH1
+    PA3     ------> TIM5_CH4
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_1|GPIO_PIN_0|GPIO_PIN_3;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+    /* USER CODE BEGIN TIM5_MspPostInit 1 */
+
+    /* USER CODE END TIM5_MspPostInit 1 */
+  }
+  else if(htim->Instance==TIM8)
+  {
+    /* USER CODE BEGIN TIM8_MspPostInit 0 */
+
+    /* USER CODE END TIM8_MspPostInit 0 */
+
+    __HAL_RCC_GPIOC_CLK_ENABLE();
+    /**TIM8 GPIO Configuration
+    PC7     ------> TIM8_CH2
+    PC6     ------> TIM8_CH1
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_7|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_AF3_TIM8;
+    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+    /* USER CODE BEGIN TIM8_MspPostInit 1 */
+
+    /* USER CODE END TIM8_MspPostInit 1 */
+  }
+  else if(htim->Instance==TIM12)
+  {
+    /* USER CODE BEGIN TIM12_MspPostInit 0 */
+
+    /* USER CODE END TIM12_MspPostInit 0 */
+
+    __HAL_RCC_GPIOH_CLK_ENABLE();
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    /**TIM12 GPIO Configuration
+    PH6     ------> TIM12_CH1
+    PB15     ------> TIM12_CH2
+    */
+    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_TIM12;
+    HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = GPIO_PIN_15;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF2_TIM12;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+    /* USER CODE BEGIN TIM12_MspPostInit 1 */
+
+    /* USER CODE END TIM12_MspPostInit 1 */
+  }
+  else if(htim->Instance==TIM15)
+  {
+    /* USER CODE BEGIN TIM15_MspPostInit 0 */
+
+    /* USER CODE END TIM15_MspPostInit 0 */
+
+    __HAL_RCC_GPIOE_CLK_ENABLE();
+    /**TIM15 GPIO Configuration
+    PE5     ------> TIM15_CH1
+    PE6     ------> TIM15_CH2
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_5|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_AF4_TIM15;
+    HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
+
+    /* USER CODE BEGIN TIM15_MspPostInit 1 */
+
+    /* USER CODE END TIM15_MspPostInit 1 */
+  }
 
 }
 /**
@@ -333,6 +517,94 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
 
 }
 
+/**
+  * @brief TIM_PWM MSP De-Initialization
+  * This function freeze the hardware resources used in this example
+  * @param htim_pwm: TIM_PWM handle pointer
+  * @retval None
+  */
+void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* htim_pwm)
+{
+  if(htim_pwm->Instance==TIM2)
+  {
+    /* USER CODE BEGIN TIM2_MspDeInit 0 */
+
+    /* USER CODE END TIM2_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM2_CLK_DISABLE();
+    /* USER CODE BEGIN TIM2_MspDeInit 1 */
+
+    /* USER CODE END TIM2_MspDeInit 1 */
+  }
+  else if(htim_pwm->Instance==TIM3)
+  {
+    /* USER CODE BEGIN TIM3_MspDeInit 0 */
+
+    /* USER CODE END TIM3_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM3_CLK_DISABLE();
+    /* USER CODE BEGIN TIM3_MspDeInit 1 */
+
+    /* USER CODE END TIM3_MspDeInit 1 */
+  }
+  else if(htim_pwm->Instance==TIM4)
+  {
+    /* USER CODE BEGIN TIM4_MspDeInit 0 */
+
+    /* USER CODE END TIM4_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM4_CLK_DISABLE();
+    /* USER CODE BEGIN TIM4_MspDeInit 1 */
+
+    /* USER CODE END TIM4_MspDeInit 1 */
+  }
+  else if(htim_pwm->Instance==TIM5)
+  {
+    /* USER CODE BEGIN TIM5_MspDeInit 0 */
+
+    /* USER CODE END TIM5_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM5_CLK_DISABLE();
+    /* USER CODE BEGIN TIM5_MspDeInit 1 */
+
+    /* USER CODE END TIM5_MspDeInit 1 */
+  }
+  else if(htim_pwm->Instance==TIM8)
+  {
+    /* USER CODE BEGIN TIM8_MspDeInit 0 */
+
+    /* USER CODE END TIM8_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM8_CLK_DISABLE();
+    /* USER CODE BEGIN TIM8_MspDeInit 1 */
+
+    /* USER CODE END TIM8_MspDeInit 1 */
+  }
+  else if(htim_pwm->Instance==TIM12)
+  {
+    /* USER CODE BEGIN TIM12_MspDeInit 0 */
+
+    /* USER CODE END TIM12_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM12_CLK_DISABLE();
+    /* USER CODE BEGIN TIM12_MspDeInit 1 */
+
+    /* USER CODE END TIM12_MspDeInit 1 */
+  }
+  else if(htim_pwm->Instance==TIM15)
+  {
+    /* USER CODE BEGIN TIM15_MspDeInit 0 */
+
+    /* USER CODE END TIM15_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM15_CLK_DISABLE();
+    /* USER CODE BEGIN TIM15_MspDeInit 1 */
+
+    /* USER CODE END TIM15_MspDeInit 1 */
+  }
+
+}
+
 /**
   * @brief UART MSP Initialization
   * This function configures the hardware resources used in this example

board/CubeMX_Config/cmake/stm32cubemx/CMakeLists.txt

@@ -56,8 +56,6 @@ set(STM32_Drivers_Src
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c_ex.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_exti.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc_ex.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_qspi.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_delayblock.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c

board/Kconfig

@@ -207,6 +207,108 @@ menu "On-chip Peripheral Drivers"
                         bool "Enable PWM1 channel4"
                         default n
                 endif
+          
+            menuconfig BSP_USING_PWM2
+                bool "Enable timer2 output pwm"
+                default n
+                if BSP_USING_PWM2
+                    config BSP_USING_PWM2_CH1
+                        bool "Enable PWM2 channel1"
+                        default n
+                    config BSP_USING_PWM2_CH2
+                        bool "Enable PWM2 channel2"
+                        default n
+                    config BSP_USING_PWM2_CH3
+                        bool "Enable PWM2 channel3"
+                        default n
+                    config BSP_USING_PWM2_CH4
+                        bool "Enable PWM2 channel4"
+                        default n
+                endif
+            menuconfig BSP_USING_PWM3
+                bool "Enable timer3 output pwm"
+                default n
+                if BSP_USING_PWM3
+                    config BSP_USING_PWM3_CH1
+                        bool "Enable PWM3 channel1"
+                        default n
+                    config BSP_USING_PWM3_CH2
+                        bool "Enable PWM3 channel2"
+                        default n
+                    config BSP_USING_PWM3_CH3
+                        bool "Enable PWM3 channel3"
+                        default n
+                    config BSP_USING_PWM3_CH4
+                        bool "Enable PWM3 channel4"
+                        default n
+                endif
+            menuconfig BSP_USING_PWM4
+                bool "Enable timer4 output pwm"
+                default n
+                if BSP_USING_PWM4
+                    config BSP_USING_PWM4_CH1
+                        bool "Enable PWM4 channel1"
+                        default n
+                    config BSP_USING_PWM4_CH2
+                        bool "Enable PWM4 channel2"
+                        default n
+                    config BSP_USING_PWM4_CH3
+                        bool "Enable PWM4 channel3"
+                        default n
+                    config BSP_USING_PWM4_CH4
+                        bool "Enable PWM4 channel4"
+                        default n
+                endif
+            menuconfig BSP_USING_PWM5
+                bool "Enable timer5 output pwm"
+                default n
+                if BSP_USING_PWM5
+                    config BSP_USING_PWM5_CH1
+                        bool "Enable PWM5 channel1"
+                        default n
+                    config BSP_USING_PWM5_CH2
+                        bool "Enable PWM5 channel2"
+                        default n
+                    config BSP_USING_PWM5_CH3
+                        bool "Enable PWM5 channel3"
+                        default n
+                    config BSP_USING_PWM5_CH4
+                        bool "Enable PWM5 channel4"
+                        default n
+                endif
+            menuconfig BSP_USING_PWM8
+                bool "Enable timer8 output pwm"
+                default n
+                if BSP_USING_PWM8
+                    config BSP_USING_PWM8_CH1
+                        bool "Enable PWM8 channel1"
+                        default n
+                    config BSP_USING_PWM8_CH2
+                        bool "Enable PWM8 channel2"
+                        default n
+                endif
+            menuconfig BSP_USING_PWM12
+                bool "Enable timer12 output pwm"
+                default n
+                if BSP_USING_PWM12
+                    config BSP_USING_PWM12_CH1
+                        bool "Enable PWM12 channel1"
+                        default n
+                    config BSP_USING_PWM12_CH2
+                        bool "Enable PWM12 channel2"
+                        default n
+                endif
+            menuconfig BSP_USING_PWM15
+                bool "Enable timer15 output pwm"
+                default n
+                if BSP_USING_PWM15
+                    config BSP_USING_PWM15_CH1
+                        bool "Enable PWM15 channel1"
+                        default n
+                    config BSP_USING_PWM15_CH2
+                        bool "Enable PWM15 channel2"
+                        default n
+                endif
             endif
     config BSP_USING_QSPI
          bool "Enable QSPI BUS"

rtconfig.h

@@ -483,9 +483,32 @@
 #define BSP_USING_PWM1_CH2
 #define BSP_USING_PWM1_CH3
 #define BSP_USING_PWM1_CH4
+#define BSP_USING_PWM2
+#define BSP_USING_PWM3
+#define BSP_USING_PWM3_CH1
+#define BSP_USING_PWM3_CH2
+#define BSP_USING_PWM3_CH3
+#define BSP_USING_PWM3_CH4
+#define BSP_USING_PWM4
+#define BSP_USING_PWM4_CH1
+#define BSP_USING_PWM4_CH2
+#define BSP_USING_PWM4_CH3
+#define BSP_USING_PWM4_CH4
+#define BSP_USING_PWM5
+#define BSP_USING_PWM5_CH1
+#define BSP_USING_PWM5_CH2
+#define BSP_USING_PWM5_CH3
+#define BSP_USING_PWM5_CH4
+#define BSP_USING_PWM8
+#define BSP_USING_PWM8_CH1
+#define BSP_USING_PWM8_CH2
+#define BSP_USING_PWM12
+#define BSP_USING_PWM12_CH1
+#define BSP_USING_PWM12_CH2
+#define BSP_USING_PWM15
+#define BSP_USING_PWM15_CH1
+#define BSP_USING_PWM15_CH2
 #define BSP_USING_QSPI
-#define BSP_USING_ADC
-#define BSP_USING_ADC1
 /* end of On-chip Peripheral Drivers */
 
 /* Board extended module Drivers */