Adding COMP Driver.

6 files changed, 954 insertions, 1 deletions

diff --git a/os/hal/hal.mk b/os/hal/hal.mk
index f05ddbc..79e501e 100644
--- a/os/hal/hal.mk
+++ b/os/hal/hal.mk
@@ -19,6 +19,7 @@ HALSRC += ${CHIBIOS_CONTRIB}/os/hal/src/hal_community.c \
           ${CHIBIOS_CONTRIB}/os/hal/src/hal_timcap.c \

           ${CHIBIOS_CONTRIB}/os/hal/src/hal_qei.c \

           ${CHIBIOS_CONTRIB}/os/hal/src/hal_usb_hid.c \

-          ${CHIBIOS_CONTRIB}/os/hal/src/hal_usb_msd.c

+          ${CHIBIOS_CONTRIB}/os/hal/src/hal_usb_msd.c \

+          ${CHIBIOS_CONTRIB}/os/hal/src/hal_comp.c

 

 HALINC += ${CHIBIOS_CONTRIB}/os/hal/include

diff --git a/os/hal/include/hal_comp.h b/os/hal/include/hal_comp.h
new file mode 100644
index 0000000..045cef0
--- /dev/null
+++ b/os/hal/include/hal_comp.h
@@ -0,0 +1,132 @@
+/*
+    ChibiOS - Copyright (C) 2006..2017 Giovanni Di Sirio
+              Copyright (C) 2017 Fabien Poussin (fabien.poussin (at) google's mail)
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#ifndef HAL_COMP_H_
+#define HAL_COMP_H_
+
+#include "hal.h"
+
+
+#if (HAL_USE_COMP == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants.                                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Driver state machine possible states.
+ */
+typedef enum {
+  COMP_UNINIT = 0,                   /**< Not initialized.                   */
+  COMP_STOP = 1,                     /**< Stopped.                           */
+  COMP_READY = 2,                    /**< Ready.                             */
+  COMP_ACTIVE = 3,                   /**< Active cycle phase.                */
+} compstate_t;
+
+/**
+ * @brief   Type of a structure representing an TIMCAP driver.
+ */
+typedef struct COMPDriver COMPDriver;
+
+
+/**
+ * @brief   TIMCAP notification callback type.
+ *
+ * @param[in] comp      pointer to a @p COMPDriver object
+ */
+typedef void (*compcallback_t)(COMPDriver *comp);
+
+#include "hal_comp_lld.h"
+
+/*===========================================================================*/
+/* Driver macros.                                                            */
+/*===========================================================================*/
+
+/**
+ * @name    Macro Functions
+ * @{
+ */
+/**
+ * @brief   Enables the input capture.
+ *
+ * @param[in] comp      pointer to the @p COMPDriver object
+ *
+ * @iclass
+ */
+#define timcapEnableI(comp) comp_lld_enable(comp)
+
+/**
+ * @brief   Disables the input capture.
+ *
+ * @param[in] comp      pointer to the @p COMPDriver object
+ *
+ * @iclass
+ */
+#define timcapDisableI(comp) comp_lld_disable(comp)
+/** @} */
+
+
+/**
+ * @name    Low Level driver helper macros
+ * @{
+ */
+
+/**
+ * @brief   Common ISR code, main event.
+ *
+ * @param[in] comp      pointer to the @p COMPDriver object
+ *
+ * @notapi
+ */
+#define _comp_isr_invoke_cb(comp) {                                 \
+  (comp)->config->cb(comp);                                        \
+}
+/** @} */
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void compInit(void);
+  void compObjectInit(COMPDriver *comp);
+  void compStart(COMPDriver *comp, const COMPConfig *config);
+  void compStop(COMPDriver *comp);
+  void compEnable(COMPDriver *comp);
+  void compDisable(COMPDriver *comp);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_COMP */
+
+
+#endif /* HAL_COMP_H_ */
diff --git a/os/hal/ports/STM32/LLD/COMPv1/hal_comp_lld.c b/os/hal/ports/STM32/LLD/COMPv1/hal_comp_lld.c
new file mode 100644
index 0000000..5289d50
--- /dev/null
+++ b/os/hal/ports/STM32/LLD/COMPv1/hal_comp_lld.c
@@ -0,0 +1,349 @@
+/*
+    ChibiOS - Copyright (C) 2006..2017 Giovanni Di Sirio
+              Copyright (C) 2017 Fabien Poussin (fabien.poussin (at) google's mail)
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+
+/**
+ * @file    STM32/hal_comp_lld.c
+ * @brief   STM32 Comp subsystem low level driver header.
+ *
+ * @addtogroup COMP
+ * @{
+ */
+
+#include "hal.h"
+
+#if HAL_USE_COMP || defined(__DOXYGEN__)
+
+#include "hal_comp.h"
+
+/*===========================================================================*/
+/* Driver local definitions.                                                 */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   COMPD1 driver identifier.
+ * @note    The driver COMPD1 allocates the comparator COMP1 when enabled.
+ */
+#if STM32_COMP_USE_COMP1 || defined(__DOXYGEN__)
+COMPDriver COMPD1;
+#endif
+
+/**
+ * @brief   COMPD2 driver identifier.
+ * @note    The driver COMPD2 allocates the comparator COMP2 when enabled.
+ */
+#if STM32_COMP_USE_COMP2 || defined(__DOXYGEN__)
+COMPDriver COMPD2;
+#endif
+
+/**
+ * @brief   COMPD3 driver identifier.
+ * @note    The driver COMPD3 allocates the comparator COMP3 when enabled.
+ */
+#if STM32_COMP_USE_COMP3 || defined(__DOXYGEN__)
+COMPDriver COMPD3;
+#endif
+
+/**
+ * @brief   COMPD4 driver identifier.
+ * @note    The driver COMPD4 allocates the comparator COMP4 when enabled.
+ */
+#if STM32_COMP_USE_COMP4 || defined(__DOXYGEN__)
+COMPDriver COMPD4;
+#endif
+
+/**
+ * @brief   COMPD5 driver identifier.
+ * @note    The driver COMPD5 allocates the comparator COMP5 when enabled.
+ */
+#if STM32_COMP_USE_COMP5 || defined(__DOXYGEN__)
+COMPDriver COMPD5;
+#endif
+
+/**
+ * @brief   COMPD6 driver identifier.
+ * @note    The driver COMPD6 allocates the comparator COMP6 when enabled.
+ */
+#if STM32_COMP_USE_COMP6 || defined(__DOXYGEN__)
+COMPDriver COMPD6;
+#endif
+
+/**
+ * @brief   COMPD7 driver identifier.
+ * @note    The driver COMPD7 allocates the comparator COMP7 when enabled.
+ */
+#if STM32_COMP_USE_COMP7 || defined(__DOXYGEN__)
+COMPDriver COMPD7;
+#endif
+
+/*===========================================================================*/
+/* Driver local variables and types.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+
+/*===========================================================================*/
+/* Driver interrupt handlers.                                                */
+/*===========================================================================*/
+
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   Low level COMP driver initialization.
+ *
+ * @notapi
+ */
+void comp_lld_init(void) {
+
+#if STM32_COMP_USE_COMP1
+  /* Driver initialization.*/
+  compObjectInit(&COMPD1);
+  COMPD1.comp = COMP;
+#endif
+
+#if STM32_COMP_USE_COMP2
+  /* Driver initialization.*/
+  compObjectInit(&COMPD2);
+  COMPD2.comp = COMP2;
+#endif
+
+#if STM32_COMP_USE_COMP3
+  /* Driver initialization.*/
+  compObjectInit(&COMPD3);
+  COMPD3.comp = COMP3;
+#endif
+
+#if STM32_COMP_USE_COMP4
+  /* Driver initialization.*/
+  compObjectInit(&COMPD4);
+  COMPD4.comp = COMP4;
+#endif
+
+#if STM32_COMP_USE_COMP5
+  /* Driver initialization.*/
+  compObjectInit(&COMPD5);
+  COMPD8.comp = COMP5;
+#endif
+
+#if STM32_COMP_USE_COMP6
+  /* Driver initialization.*/
+  compObjectInit(&COMPD6);
+  COMPD6.comp = COMP6;
+#endif
+
+#if STM32_COMP_USE_COMP7
+  /* Driver initialization.*/
+  compObjectInit(&COMPD7);
+  COMPD7.comp = COMP7;
+#endif
+
+}
+#if STM32_COMP_USE_INTERRUPTS
+static void comp_lld_cb(EXTDriver *extp, expchannel_t channel) {
+
+  (void) extp;
+  switch (channel) {
+
+#if STM32_COMP_USE_COMP1
+    case 21:
+      COMPD1.config->cb(&COMPD1);
+#endif
+#if STM32_COMP_USE_COMP2
+    case 22:
+      COMPD2.config->cb(&COMPD2);
+#endif
+#if STM32_COMP_USE_COMP3
+    case 29:
+      COMPD3.config->cb(&COMPD3);
+#endif
+#if STM32_COMP_USE_COMP4
+    case 30:
+      COMPD4.config->cb(&COMPD4);
+#endif
+#if STM32_COMP_USE_COMP5
+    case 31:
+      COMPD5.config->cb(&COMPD5);
+#endif
+#if STM32_COMP_USE_COMP6
+    case 32:
+      COMPD6.config->cb(&COMPD6);
+#endif
+#if STM32_COMP_USE_COMP7
+    case 33:
+      COMPD7.config->cb(&COMPD7);
+#endif
+    default:
+      return;
+    }
+
+}
+#endif
+
+/**
+ * @brief   Configures and activates the COMP peripheral.
+ *
+ * @param[in] compp      pointer to the @p COMPDriver object
+ *
+ * @notapi
+ */
+void comp_lld_start(COMPDriver *compp) {
+
+  // Apply CSR Execpt the enable bit.
+  compp->comp->CSR = compp->config->csr & ~COMP_CSR_COMPxEN;
+
+  // Inverted output
+  if (compp->config->mode == COMP_OUTPUT_INVERTED)
+    compp->comp->CSR |= COMP_CSR_COMPxPOL;
+
+  EXTChannelConfig chn_cfg = {EXT_CH_MODE_BOTH_EDGES, comp_lld_cb};
+  EXTConfig *cfg = (EXTConfig*)EXTD1.config;
+
+
+#if STM32_COMP_USE_COMP1 && STM32_COMP_USE_INTERRUPTS
+    if (&COMPD1 == compp) {
+      cfg->channels[21] = chn_cfg;
+      ext_lld_channel_enable(&EXTD1, 21);
+    }
+#endif
+#if STM32_COMP_USE_COMP2 && STM32_COMP_USE_INTERRUPTS
+    if (&COMPD2 == compp) {
+      cfg->channels[22] = chn_cfg;
+      ext_lld_channel_enable(&EXTD1, 22);
+    }
+#endif
+#if STM32_COMP_USE_COMP3 && STM32_COMP_USE_INTERRUPTS
+    if (&COMPD3 == compp) {
+      cfg->channels[29] = chn_cfg;
+      ext_lld_channel_enable(&EXTD1, 29);
+    }
+#endif
+#if STM32_COMP_USE_COMP4 && STM32_COMP_USE_INTERRUPTS
+    if (&COMPD4 == compp) {
+      cfg->channels[30] = chn_cfg;
+      ext_lld_channel_enable(&EXTD1, 30);
+    }
+#endif
+#if STM32_COMP_USE_COMP5 && STM32_COMP_USE_INTERRUPTS
+    if (&COMPD5 == compp) {
+      cfg->channels[31] = chn_cfg;
+      ext_lld_channel_enable(&EXTD1, 31);
+    }
+#endif
+#if STM32_COMP_USE_COMP6 && STM32_COMP_USE_INTERRUPTS
+    if (&COMPD6 == compp) {
+      cfg->channels[32] = chn_cfg;
+      ext_lld_channel_enable(&EXTD1, 32);
+    }
+#endif
+#if STM32_COMP_USE_COMP7 && STM32_COMP_USE_INTERRUPTS
+    if (&COMPD7 == compp) {
+      cfg->channels[33] = chn_cfg;
+      ext_lld_channel_enable(&EXTD1, 33);
+    }
+#endif
+
+}
+
+/**
+ * @brief   Deactivates the comp peripheral.
+ *
+ * @param[in] compp      pointer to the @p COMPDriver object
+ *
+ * @notapi
+ */
+void comp_lld_stop(COMPDriver *compp) {
+
+  if (compp->state == COMP_READY) {
+
+
+#if STM32_COMP_USE_COMP1 && STM32_COMP_USE_INTERRUPTS
+    if (&COMPD1 == compp) {
+      ext_lld_channel_disable(&EXTD1, 21);
+    }
+#endif
+#if STM32_COMP_USE_COMP2 && STM32_COMP_USE_INTERRUPTS
+    if (&COMPD2 == compp) {
+      ext_lld_channel_disable(&EXTD1, 22);
+    }
+#endif
+#if STM32_COMP_USE_COMP3 && STM32_COMP_USE_INTERRUPTS
+    if (&COMPD3 == compp) {
+      ext_lld_channel_disable(&EXTD1, 29);
+    }
+#endif
+#if STM32_COMP_USE_COMP4 && STM32_COMP_USE_INTERRUPTS
+    if (&COMPD4 == compp) {
+      ext_lld_channel_disable(&EXTD1, 30);
+    }
+#endif
+#if STM32_COMP_USE_COMP5 && STM32_COMP_USE_INTERRUPTS
+    if (&COMPD5 == compp) {
+      ext_lld_channel_disable(&EXTD1, 31);
+    }
+#endif
+#if STM32_COMP_USE_COMP6 && STM32_COMP_USE_INTERRUPTS
+    if (&COMPD6 == compp) {
+      ext_lld_channel_disable(&EXTD1, 32);
+    }
+#endif
+#if STM32_COMP_USE_COMP7 && STM32_COMP_USE_INTERRUPTS
+    if (&COMPD7 == compp) {
+      ext_lld_channel_disable(&EXTD1, 33);
+    }
+#endif
+  }
+}
+
+/**
+ * @brief   Enables the output.
+ *
+ * @param[in] compp      pointer to the @p COMPDriver object
+ *
+ * @notapi
+ */
+void comp_lld_enable(COMPDriver *compp) {
+
+   compp->comp->CSR |= COMP_CSR_COMPxEN; /* Enable */
+
+}
+
+/**
+ * @brief   Disables the output.
+ *
+ * @param[in] compp      pointer to the @p COMPDriver object
+ *
+ * @notapi
+ */
+void comp_lld_disable(COMPDriver *compp) {
+
+  compp->comp->CSR &= ~COMP_CSR_COMPxEN; /* Disable */
+
+}
+
+#endif /* HAL_USE_COMP */
+
+/** @} */
diff --git a/os/hal/ports/STM32/LLD/COMPv1/hal_comp_lld.h b/os/hal/ports/STM32/LLD/COMPv1/hal_comp_lld.h
new file mode 100644
index 0000000..4b66c52
--- /dev/null
+++ b/os/hal/ports/STM32/LLD/COMPv1/hal_comp_lld.h
@@ -0,0 +1,314 @@
+/*
+    ChibiOS - Copyright (C) 2006..2017 Giovanni Di Sirio
+              Copyright (C) 2017 Fabien Poussin (fabien.poussin (at) google's mail)
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    STM32/comp_lld.h
+ * @brief   STM32 Comparator subsystem low level driver header.
+ *
+ * @addtogroup COMP
+ * @{
+ */
+
+#ifndef HAL_COMP_LLD_H_
+#define HAL_COMP_LLD_H_
+
+#include "hal.h"
+
+#if HAL_USE_COMP || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants.                                                         */
+/*===========================================================================*/
+
+#if defined(STM32F303x8)
+
+#define STM32_HAS_COMP1 FALSE
+#define STM32_HAS_COMP2 TRUE
+#define STM32_HAS_COMP3 FALSE
+#define STM32_HAS_COMP4 TRUE
+#define STM32_HAS_COMP5 FALSE
+#define STM32_HAS_COMP6 FALSE
+#define STM32_HAS_COMP7 FALSE
+
+#endif
+
+#if defined(STM32F303xC)
+
+#define STM32_HAS_COMP1 TRUE
+#define STM32_HAS_COMP2 TRUE
+#define STM32_HAS_COMP3 TRUE
+#define STM32_HAS_COMP4 TRUE
+#define STM32_HAS_COMP5 TRUE
+#define STM32_HAS_COMP6 TRUE
+#define STM32_HAS_COMP7 TRUE
+
+#endif
+
+#if defined(STM32F303xE)
+
+#define STM32_HAS_COMP1 TRUE
+#define STM32_HAS_COMP2 TRUE
+#define STM32_HAS_COMP3 TRUE
+#define STM32_HAS_COMP4 TRUE
+#define STM32_HAS_COMP5 TRUE
+#define STM32_HAS_COMP6 TRUE
+#define STM32_HAS_COMP7 TRUE
+
+#endif
+
+/*===========================================================================*/
+/* Driver pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @name    Configuration options
+ * @{
+ */
+
+/**
+ * @brief   COMP INTERRUPTS.
+ * @details If set to @p TRUE the support for COMPD1 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(STM32_COMP_USE_INTERRUPTS) || defined(__DOXYGEN__)
+#define STM32_COMP_USE_INTERRUPTS             FALSE
+#endif
+
+/**
+ * @brief   COMPD1 driver enable switch.
+ * @details If set to @p TRUE the support for COMPD1 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(STM32_COMP_USE_COMP1) || defined(__DOXYGEN__)
+#define STM32_COMP_USE_COMP1                  FALSE
+#endif
+
+/**
+ * @brief   COMPD2 driver enable switch.
+ * @details If set to @p TRUE the support for COMPD2 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(STM32_COMP_USE_COMP2) || defined(__DOXYGEN__)
+#define STM32_COMP_USE_COMP2                  FALSE
+#endif
+
+/**
+ * @brief   COMPD3 driver enable switch.
+ * @details If set to @p TRUE the support for COMPD3 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(STM32_COMP_USE_COMP3) || defined(__DOXYGEN__)
+#define STM32_COMP_USE_COMP3                  FALSE
+#endif
+
+/**
+ * @brief   COMPD4 driver enable switch.
+ * @details If set to @p TRUE the support for COMPD4 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(STM32_COMP_USE_COMP4) || defined(__DOXYGEN__)
+#define STM32_COMP_USE_COMP4                  FALSE
+#endif
+
+/**
+ * @brief   COMPD5 driver enable switch.
+ * @details If set to @p TRUE the support for COMPD4 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(STM32_COMP_USE_COMP5) || defined(__DOXYGEN__)
+#define STM32_COMP_USE_COMP5                  FALSE
+#endif
+
+/**
+ * @brief   COMPD6 driver enable switch.
+ * @details If set to @p TRUE the support for COMPD4 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(STM32_COMP_USE_COMP6) || defined(__DOXYGEN__)
+#define STM32_COMP_USE_COMP6                  FALSE
+#endif
+
+/**
+ * @brief   COMPD7 driver enable switch.
+ * @details If set to @p TRUE the support for COMPD4 is included.
+ * @note    The default is @p FALSE.
+ */
+#if !defined(STM32_COMP_USE_COMP7) || defined(__DOXYGEN__)
+#define STM32_COMP_USE_COMP7                  FALSE
+#endif
+
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+#if STM32_COMP_USE_INTERRUPTS && !HAL_USE_EXT
+#error "COMP needs HAL_USE_EXT to use interrupts"
+#endif
+
+#if STM32_COMP_USE_INTERRUPTS
+#include "hal_ext_lld.h"
+#endif
+
+#if STM32_COMP_USE_COMP1 && !STM32_HAS_COMP1
+#error "COMP1 not present in the selected device"
+#endif
+
+#if STM32_COMP_USE_COMP2 && !STM32_HAS_COMP2
+#error "COMP2 not present in the selected device"
+#endif
+
+#if STM32_COMP_USE_COMP3 && !STM32_HAS_COMP3
+#error "COMP3 not present in the selected device"
+#endif
+
+#if STM32_COMP_USE_COMP4 && !STM32_HAS_COMP4
+#error "COMP4 not present in the selected device"
+#endif
+
+#if STM32_COMP_USE_COMP5 && !STM32_HAS_COMP5
+#error "COMP5 not present in the selected device"
+#endif
+
+#if STM32_COMP_USE_COMP6 && !STM32_HAS_COMP6
+#error "COMP6 not present in the selected device"
+#endif
+
+#if STM32_COMP_USE_COMP7 && !STM32_HAS_COMP7
+#error "COMP7 not present in the selected device"
+#endif
+
+#if !STM32_COMP_USE_COMP1 && !STM32_COMP_USE_COMP2 &&                         \
+    !STM32_COMP_USE_COMP3 && !STM32_COMP_USE_COMP4 &&                         \
+    !STM32_COMP_USE_COMP6 && !STM32_COMP_USE_COMP6 &&                         \
+    !STM32_COMP_USE_COMP7
+#error "COMP driver activated but no COMP peripheral assigned"
+#endif
+
+/*===========================================================================*/
+/* Driver data structures and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   COMP output mode.
+ */
+typedef enum {
+  COMP_OUTPUT_NORMAL = 0,
+  COMP_OUTPUT_INVERTED = 1
+} comp_output_mode_t;
+
+
+/**
+ * @brief   Driver configuration structure.
+ * @note    It could be empty on some architectures.
+ */
+typedef struct {
+  /**
+   * @brief   Ouput mode.
+   */
+  comp_output_mode_t           mode;
+
+  /**
+   * @brief   Callback.
+   */
+  compcallback_t             cb;
+
+  /* End of the mandatory fields.*/
+
+  /**
+   * @brief COMP CSR register initialization data.
+   * @note  The value of this field should normally be equal to zero.
+   */
+  uint32_t                  csr;
+} COMPConfig;
+
+/**
+ * @brief   Structure representing an TIMCAP driver.
+ */
+struct COMPDriver {
+  /**
+   * @brief Driver state.
+   */
+  compstate_t                state;
+  /**
+   * @brief Current configuration data.
+   */
+  const COMPConfig           *config;
+#if defined(COMP_DRIVER_EXT_FIELDS)
+  COMP_DRIVER_EXT_FIELDS
+#endif
+  /* End of the mandatory fields.*/
+  /**
+   * @brief Pointer to the COMPx registers block.
+   */
+  COMP_TypeDef               *comp;
+};
+
+/*===========================================================================*/
+/* Driver macros.                                                            */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+#if STM32_COMP_USE_COMP1 && !defined(__DOXYGEN__)
+extern COMPDriver COMPD1;
+#endif
+
+#if STM32_COMP_USE_COMP2 && !defined(__DOXYGEN__)
+extern COMPDriver COMPD2;
+#endif
+
+#if STM32_COMP_USE_COMP3 && !defined(__DOXYGEN__)
+extern COMPDriver COMPD3;
+#endif
+
+#if STM32_COMP_USE_COMP4 && !defined(__DOXYGEN__)
+extern COMPDriver COMPD4;
+#endif
+
+#if STM32_COMP_USE_COMP5 && !defined(__DOXYGEN__)
+extern COMPDriver COMPD5;
+#endif
+
+#if STM32_COMP_USE_COMP6 && !defined(__DOXYGEN__)
+extern COMPDriver COMPD6;
+#endif
+
+#if STM32_COMP_USE_COMP7 && !defined(__DOXYGEN__)
+extern COMPDriver COMPD7;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void comp_lld_init(void);
+  void comp_lld_start(COMPDriver *timcapp);
+  void comp_lld_stop(COMPDriver *timcapp);
+  void comp_lld_enable(COMPDriver *timcapp);
+  void comp_lld_disable(COMPDriver *timcapp);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_COMP */
+
+#endif /* _comp_lld_H_ */
+
+/** @} */
diff --git a/os/hal/ports/STM32/STM32F3xx/platform.mk b/os/hal/ports/STM32/STM32F3xx/platform.mk
index 92f033c..910fb1f 100644
--- a/os/hal/ports/STM32/STM32F3xx/platform.mk
+++ b/os/hal/ports/STM32/STM32F3xx/platform.mk
@@ -4,7 +4,9 @@ PLATFORMSRC += ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/CRCv1/hal_crc_lld.c \
                ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/TIMv1/hal_eicu_lld.c \
                ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/TIMv1/hal_timcap_lld.c \
                ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/TIMv1/hal_qei_lld.c \
+               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/COMPv1/hal_comp_lld.c \
 
 PLATFORMINC += ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/CRCv1 \
                ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/TIMv1 \
+               ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD/COMPv1 \
                ${CHIBIOS_CONTRIB}/os/hal/ports/STM32/LLD
diff --git a/os/hal/src/hal_comp.c b/os/hal/src/hal_comp.c
new file mode 100644
index 0000000..abc0fad
--- /dev/null
+++ b/os/hal/src/hal_comp.c
@@ -0,0 +1,155 @@
+/*
+    ChibiOS - Copyright (C) 2006..2017 Giovanni Di Sirio
+              Copyright (C) 2017 Fabien Poussin (fabien.poussin (at) google's mail)
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    hal_comp.c
+ * @brief   COMP Driver code.
+ *
+ * @addtogroup COMP
+ * @{
+ */
+
+#include "hal_comp.h"
+
+#if HAL_USE_COMP || defined(__DOXYGEN__)
+
+
+/*===========================================================================*/
+/* Driver local definitions.                                                 */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   COMP Driver initialization.
+ * @note    This function is implicitly invoked by @p halInit(), there is
+ *          no need to explicitly initialize the driver.
+ *
+ * @init
+ */
+void compInit(void) {
+
+  comp_lld_init();
+}
+
+/**
+ * @brief   Initializes the standard part of a @p COMPDriver structure.
+ *
+ * @param[out] compp     pointer to the @p COMPDriver object
+ *
+ * @init
+ */
+void compObjectInit(COMPDriver *compp) {
+
+  compp->state  = COMP_STOP;
+  compp->config = NULL;
+}
+
+/**
+ * @brief   Configures and activates the COMP peripheral.
+ *
+ * @param[in] compp      pointer to the @p COMPDriver object
+ * @param[in] config    pointer to the @p COMPConfig object
+ *
+ * @api
+ */
+void compStart(COMPDriver *compp, const COMPConfig *config) {
+
+  osalDbgCheck((compp != NULL) && (config != NULL));
+
+  osalSysLock();
+  osalDbgAssert((compp->state == COMP_STOP) || (compp->state == COMP_READY),
+              "invalid state");
+  compp->config = config;
+  comp_lld_start(compp);
+  compp->state = COMP_READY;
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Deactivates the COMP peripheral.
+ *
+ * @param[in] compp      pointer to the @p COMPDriver object
+ *
+ * @api
+ */
+void compStop(COMPDriver *compp) {
+
+  osalDbgCheck(compp != NULL);
+
+  osalSysLock();
+  osalDbgAssert((compp->state == COMP_STOP) || (compp->state == COMP_READY),
+              "invalid state");
+  comp_lld_stop(compp);
+  compp->state = COMP_STOP;
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Activates the comparator.
+ *
+ * @param[in] compp      pointer to the @p COMPDriver object
+ *
+ * @api
+ */
+void compEnable(COMPDriver *compp) {
+
+  osalDbgCheck(compp != NULL);
+
+  osalSysLock();
+  osalDbgAssert(compp->state == COMP_READY, "invalid state");
+  comp_lld_enable(compp);
+  compp->state = COMP_ACTIVE;
+  osalSysUnlock();
+}
+
+/**
+ * @brief   Deactivates the comparator.
+ *
+ * @param[in] compp      pointer to the @p COMPDriver object
+ *
+ * @api
+ */
+void compDisable(COMPDriver *compp) {
+
+  osalDbgCheck(compp != NULL);
+
+  osalSysLock();
+  osalDbgAssert((compp->state == COMP_READY) || (compp->state == COMP_ACTIVE),
+             "invalid state");
+  comp_lld_disable(compp);
+  compp->state = COMP_READY;
+  osalSysUnlock();
+}
+
+#endif /* HAL_USE_COMP */
+
+/** @} */