Updated some testhal projects to new ChibiOS code

4 files changed, 278 insertions, 240 deletions

diff --git a/testhal/STM32/STM32F4xx/EICU/Makefile b/testhal/STM32/STM32F4xx/EICU/Makefile
index c6bdbaf..92ad11b 100644
--- a/testhal/STM32/STM32F4xx/EICU/Makefile
+++ b/testhal/STM32/STM32F4xx/EICU/Makefile
@@ -1,210 +1,210 @@
-##############################################################################

-# Build global options

-# NOTE: Can be overridden externally.

-#

-

-# Compiler options here.

-ifeq ($(USE_OPT),)

-  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16

-endif

-

-# C specific options here (added to USE_OPT).

-ifeq ($(USE_COPT),)

-  USE_COPT = 

-endif

-

-# C++ specific options here (added to USE_OPT).

-ifeq ($(USE_CPPOPT),)

-  USE_CPPOPT = -fno-rtti

-endif

-

-# Enable this if you want the linker to remove unused code and data

-ifeq ($(USE_LINK_GC),)

-  USE_LINK_GC = yes

-endif

-

-# Linker extra options here.

-ifeq ($(USE_LDOPT),)

-  USE_LDOPT = 

-endif

-

-# Enable this if you want link time optimizations (LTO)

-ifeq ($(USE_LTO),)

-  USE_LTO = no

-endif

-

-# If enabled, this option allows to compile the application in THUMB mode.

-ifeq ($(USE_THUMB),)

-  USE_THUMB = yes

-endif

-

-# Enable this if you want to see the full log while compiling.

-ifeq ($(USE_VERBOSE_COMPILE),)

-  USE_VERBOSE_COMPILE = no

-endif

-

-#

-# Build global options

-##############################################################################

-

-##############################################################################

-# Architecture or project specific options

-#

-

-# Stack size to be allocated to the Cortex-M process stack. This stack is

-# the stack used by the main() thread.

-ifeq ($(USE_PROCESS_STACKSIZE),)

-  USE_PROCESS_STACKSIZE = 0x400

-endif

-

-# Stack size to the allocated to the Cortex-M main/exceptions stack. This

-# stack is used for processing interrupts and exceptions.

-ifeq ($(USE_EXCEPTIONS_STACKSIZE),)

-  USE_EXCEPTIONS_STACKSIZE = 0x400

-endif

-

-# Enables the use of FPU on Cortex-M4 (no, softfp, hard).

-ifeq ($(USE_FPU),)

-  USE_FPU = no

-endif

-

-#

-# Architecture or project specific options

-##############################################################################

-

-##############################################################################

-# Project, sources and paths

-#

-

-# Define project name here

-PROJECT = ch

-

-# Imported source files and paths

+##############################################################################
+# Build global options
+# NOTE: Can be overridden externally.
+#
+
+# Compiler options here.
+ifeq ($(USE_OPT),)
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
+endif
+
+# C specific options here (added to USE_OPT).
+ifeq ($(USE_COPT),)
+  USE_COPT = 
+endif
+
+# C++ specific options here (added to USE_OPT).
+ifeq ($(USE_CPPOPT),)
+  USE_CPPOPT = -fno-rtti
+endif
+
+# Enable this if you want the linker to remove unused code and data
+ifeq ($(USE_LINK_GC),)
+  USE_LINK_GC = yes
+endif
+
+# Linker extra options here.
+ifeq ($(USE_LDOPT),)
+  USE_LDOPT = 
+endif
+
+# Enable this if you want link time optimizations (LTO)
+ifeq ($(USE_LTO),)
+  USE_LTO = no
+endif
+
+# If enabled, this option allows to compile the application in THUMB mode.
+ifeq ($(USE_THUMB),)
+  USE_THUMB = yes
+endif
+
+# Enable this if you want to see the full log while compiling.
+ifeq ($(USE_VERBOSE_COMPILE),)
+  USE_VERBOSE_COMPILE = no
+endif
+
+#
+# Build global options
+##############################################################################
+
+##############################################################################
+# Architecture or project specific options
+#
+
+# Stack size to be allocated to the Cortex-M process stack. This stack is
+# the stack used by the main() thread.
+ifeq ($(USE_PROCESS_STACKSIZE),)
+  USE_PROCESS_STACKSIZE = 0x400
+endif
+
+# Stack size to the allocated to the Cortex-M main/exceptions stack. This
+# stack is used for processing interrupts and exceptions.
+ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
+  USE_EXCEPTIONS_STACKSIZE = 0x400
+endif
+
+# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
+ifeq ($(USE_FPU),)
+  USE_FPU = no
+endif
+
+#
+# Architecture or project specific options
+##############################################################################
+
+##############################################################################
+# Project, sources and paths
+#
+
+# Define project name here
+PROJECT = ch
+
+# Imported source files and paths
 CHIBIOS = ../../../../../ChibiOS-RT
-CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib

-# Startup files.

-include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk

-# HAL-OSAL files (optional).

-include $(CHIBIOS_CONTRIB)/os/hal/hal.mk

-include $(CHIBIOS_CONTRIB)/os/hal/ports/STM32/STM32F4xx/platform.mk

-include $(CHIBIOS)/os/hal/boards/ST_STM32F4_DISCOVERY/board.mk

-include $(CHIBIOS)/os/hal/osal/rt/osal.mk

-# RTOS files (optional).

-include $(CHIBIOS)/os/rt/rt.mk

-include $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk

-

-# Define linker script file here

-LDSCRIPT= $(STARTUPLD)/STM32F407xG.ld

-

-# C sources that can be compiled in ARM or THUMB mode depending on the global

-# setting.

-CSRC = $(STARTUPSRC) \

-       $(KERNSRC) \

-       $(PORTSRC) \

-       $(OSALSRC) \

-       $(HALSRC) \

-       $(PLATFORMSRC) \

-       $(BOARDSRC) \

-       $(TESTSRC) \

-       main.c

-       

-# C++ sources that can be compiled in ARM or THUMB mode depending on the global

-# setting.

-CPPSRC =

-

-# C sources to be compiled in ARM mode regardless of the global setting.

-# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler

-#       option that results in lower performance and larger code size.

-ACSRC =

-

-# C++ sources to be compiled in ARM mode regardless of the global setting.

-# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler

-#       option that results in lower performance and larger code size.

-ACPPSRC =

-

-# C sources to be compiled in THUMB mode regardless of the global setting.

-# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler

-#       option that results in lower performance and larger code size.

-TCSRC =

-

-# C sources to be compiled in THUMB mode regardless of the global setting.

-# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler

-#       option that results in lower performance and larger code size.

-TCPPSRC =

-

-# List ASM source files here

-ASMSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)

-

-INCDIR = $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \

-         $(HALINC) $(PLATFORMINC) $(BOARDINC) \

-         $(CHIBIOS)/os/various

-

-#

-# Project, sources and paths

-##############################################################################

-

-##############################################################################

-# Compiler settings

-#

-

-MCU  = cortex-m4

-

-#TRGT = arm-elf-

-TRGT = arm-none-eabi-

-CC   = ccache $(TRGT)gcc

-CPPC = ccache $(TRGT)g++

-# Enable loading with g++ only if you need C++ runtime support.

-# NOTE: You can use C++ even without C++ support if you are careful. C++

-#       runtime support makes code size explode.

-LD   = $(TRGT)gcc

-#LD   = $(TRGT)g++

-CP   = $(TRGT)objcopy

-AS   = $(TRGT)gcc -x assembler-with-cpp

-AR   = $(TRGT)ar

-OD   = $(TRGT)objdump

-SZ   = $(TRGT)size

-HEX  = $(CP) -O ihex

-BIN  = $(CP) -O binary

-

-# ARM-specific options here

-AOPT =

-

-# THUMB-specific options here

-TOPT = -mthumb -DTHUMB

-

-# Define C warning options here

-CWARN = -Wall -Wextra -Wstrict-prototypes -Wundef

-

-# Define C++ warning options here

-CPPWARN = -Wall -Wextra -Wundef

-

-#

-# Compiler settings

-##############################################################################

-

-##############################################################################

-# Start of user section

-#

-

-# List all user C define here, like -D_DEBUG=1

-UDEFS =

-

-# Define ASM defines here

-UADEFS =

-

-# List all user directories here

-UINCDIR =

-

-# List the user directory to look for the libraries here

-ULIBDIR =

-

-# List all user libraries here

-ULIBS =

-

-#

-# End of user defines

-##############################################################################

-

-RULESPATH = $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC

-include $(RULESPATH)/rules.mk

-

+CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
+# Startup files.
+include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk
+# HAL-OSAL files (optional).
+include $(CHIBIOS_CONTRIB)/os/hal/hal.mk
+include $(CHIBIOS_CONTRIB)/os/hal/ports/STM32/STM32F4xx/platform.mk
+include $(CHIBIOS)/os/hal/boards/ST_STM32F4_DISCOVERY/board.mk
+include $(CHIBIOS)/os/hal/osal/rt/osal.mk
+# RTOS files (optional).
+include $(CHIBIOS)/os/rt/rt.mk
+include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
+
+# Define linker script file here
+LDSCRIPT= $(STARTUPLD)/STM32F407xG.ld
+
+# C sources that can be compiled in ARM or THUMB mode depending on the global
+# setting.
+CSRC = $(STARTUPSRC) \
+       $(KERNSRC) \
+       $(PORTSRC) \
+       $(OSALSRC) \
+       $(HALSRC) \
+       $(PLATFORMSRC) \
+       $(BOARDSRC) \
+       $(TESTSRC) \
+       main.c
+       
+# C++ sources that can be compiled in ARM or THUMB mode depending on the global
+# setting.
+CPPSRC =
+
+# C sources to be compiled in ARM mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+#       option that results in lower performance and larger code size.
+ACSRC =
+
+# C++ sources to be compiled in ARM mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+#       option that results in lower performance and larger code size.
+ACPPSRC =
+
+# C sources to be compiled in THUMB mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+#       option that results in lower performance and larger code size.
+TCSRC =
+
+# C sources to be compiled in THUMB mode regardless of the global setting.
+# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
+#       option that results in lower performance and larger code size.
+TCPPSRC =
+
+# List ASM source files here
+ASMSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+
+INCDIR = $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
+         $(HALINC) $(PLATFORMINC) $(BOARDINC) \
+         $(CHIBIOS)/os/various
+
+#
+# Project, sources and paths
+##############################################################################
+
+##############################################################################
+# Compiler settings
+#
+
+MCU  = cortex-m4
+
+#TRGT = arm-elf-
+TRGT = arm-none-eabi-
+CC   = ccache $(TRGT)gcc
+CPPC = ccache $(TRGT)g++
+# Enable loading with g++ only if you need C++ runtime support.
+# NOTE: You can use C++ even without C++ support if you are careful. C++
+#       runtime support makes code size explode.
+LD   = $(TRGT)gcc
+#LD   = $(TRGT)g++
+CP   = $(TRGT)objcopy
+AS   = $(TRGT)gcc -x assembler-with-cpp
+AR   = $(TRGT)ar
+OD   = $(TRGT)objdump
+SZ   = $(TRGT)size
+HEX  = $(CP) -O ihex
+BIN  = $(CP) -O binary
+
+# ARM-specific options here
+AOPT =
+
+# THUMB-specific options here
+TOPT = -mthumb -DTHUMB
+
+# Define C warning options here
+CWARN = -Wall -Wextra -Wstrict-prototypes -Wundef
+
+# Define C++ warning options here
+CPPWARN = -Wall -Wextra -Wundef
+
+#
+# Compiler settings
+##############################################################################
+
+##############################################################################
+# Start of user section
+#
+
+# List all user C define here, like -D_DEBUG=1
+UDEFS =
+
+# Define ASM defines here
+UADEFS =
+
+# List all user directories here
+UINCDIR =
+
+# List the user directory to look for the libraries here
+ULIBDIR =
+
+# List all user libraries here
+ULIBS =
+
+#
+# End of user defines
+##############################################################################
+
+RULESPATH = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC
+include $(RULESPATH)/rules.mk
+
diff --git a/testhal/STM32/STM32F4xx/EICU/chconf.h b/testhal/STM32/STM32F4xx/EICU/chconf.h
index c8a8f19..a554d39 100644
--- a/testhal/STM32/STM32F4xx/EICU/chconf.h
+++ b/testhal/STM32/STM32F4xx/EICU/chconf.h
@@ -1,5 +1,5 @@
 /*

-    ChibiOS - Copyright (C) 2006-2014 Giovanni Di Sirio

+    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio

 

     Licensed under the Apache License, Version 2.0 (the "License");

     you may not use this file except in compliance with the License.

@@ -28,6 +28,8 @@
 #ifndef _CHCONF_H_

 #define _CHCONF_H_

 

+#define _CHIBIOS_RT_CONF_

+

 /*===========================================================================*/

 /**

  * @name System timers settings

@@ -46,7 +48,7 @@
  * @details Frequency of the system timer that drives the system ticks. This

  *          setting also defines the system tick time unit.

  */

-#define CH_CFG_ST_FREQUENCY                 100000

+#define CH_CFG_ST_FREQUENCY                 10000

 

 /**

  * @brief   Time delta constant for the tick-less mode.

@@ -99,7 +101,8 @@
  * @details When this option is activated the function @p chSysInit()

  *          does not spawn the idle thread. The application @p main()

  *          function becomes the idle thread and must implement an

- *          infinite loop. */

+ *          infinite loop.

+ */

 #define CH_CFG_NO_IDLE_THREAD               FALSE

 

 /** @} */

@@ -137,7 +140,7 @@
  *

  * @note    The default is @p TRUE.

  */

-#define CH_CFG_USE_TM                       false

+#define CH_CFG_USE_TM                       TRUE

 

 /**

  * @brief   Threads registry APIs.

@@ -162,7 +165,7 @@
  *

  * @note    The default is @p TRUE.

  */

-#define CH_CFG_USE_SEMAPHORES               FALSE

+#define CH_CFG_USE_SEMAPHORES               TRUE

 

 /**

  * @brief   Semaphores queuing mode.

@@ -181,7 +184,7 @@
  *

  * @note    The default is @p TRUE.

  */

-#define CH_CFG_USE_MUTEXES                  FALSE

+#define CH_CFG_USE_MUTEXES                  TRUE

 

 /**

  * @brief   Enables recursive behavior on mutexes.

@@ -201,7 +204,7 @@
  * @note    The default is @p TRUE.

  * @note    Requires @p CH_CFG_USE_MUTEXES.

  */

-#define CH_CFG_USE_CONDVARS                 FALSE

+#define CH_CFG_USE_CONDVARS                 TRUE

 

 /**

  * @brief   Conditional Variables APIs with timeout.

@@ -211,7 +214,7 @@
  * @note    The default is @p TRUE.

  * @note    Requires @p CH_CFG_USE_CONDVARS.

  */

-#define CH_CFG_USE_CONDVARS_TIMEOUT         FALSE

+#define CH_CFG_USE_CONDVARS_TIMEOUT         TRUE

 

 /**

  * @brief   Events Flags APIs.

@@ -219,7 +222,7 @@
  *

  * @note    The default is @p TRUE.

  */

-#define CH_CFG_USE_EVENTS                   FALSE

+#define CH_CFG_USE_EVENTS                   TRUE

 

 /**

  * @brief   Events Flags APIs with timeout.

@@ -229,7 +232,7 @@
  * @note    The default is @p TRUE.

  * @note    Requires @p CH_CFG_USE_EVENTS.

  */

-#define CH_CFG_USE_EVENTS_TIMEOUT           FALSE

+#define CH_CFG_USE_EVENTS_TIMEOUT           TRUE

 

 /**

  * @brief   Synchronous Messages APIs.

@@ -238,7 +241,7 @@
  *

  * @note    The default is @p TRUE.

  */

-#define CH_CFG_USE_MESSAGES                 FALSE

+#define CH_CFG_USE_MESSAGES                 TRUE

 

 /**

  * @brief   Synchronous Messages queuing mode.

@@ -259,7 +262,7 @@
  * @note    The default is @p TRUE.

  * @note    Requires @p CH_CFG_USE_SEMAPHORES.

  */

-#define CH_CFG_USE_MAILBOXES                FALSE

+#define CH_CFG_USE_MAILBOXES                TRUE

 

 /**

  * @brief   I/O Queues APIs.

@@ -267,7 +270,7 @@
  *

  * @note    The default is @p TRUE.

  */

-#define CH_CFG_USE_QUEUES                   FALSE

+#define CH_CFG_USE_QUEUES                   TRUE

 

 /**

  * @brief   Core Memory Manager APIs.

@@ -276,7 +279,7 @@
  *

  * @note    The default is @p TRUE.

  */

-#define CH_CFG_USE_MEMCORE                  FALSE

+#define CH_CFG_USE_MEMCORE                  TRUE

 

 /**

  * @brief   Heap Allocator APIs.

@@ -288,7 +291,7 @@
  *          @p CH_CFG_USE_SEMAPHORES.

  * @note    Mutexes are recommended.

  */

-#define CH_CFG_USE_HEAP                     FALSE

+#define CH_CFG_USE_HEAP                     TRUE

 

 /**

  * @brief   Memory Pools Allocator APIs.

@@ -297,7 +300,7 @@
  *

  * @note    The default is @p TRUE.

  */

-#define CH_CFG_USE_MEMPOOLS                 FALSE

+#define CH_CFG_USE_MEMPOOLS                 TRUE

 

 /**

  * @brief   Dynamic Threads APIs.

@@ -308,7 +311,7 @@
  * @note    Requires @p CH_CFG_USE_WAITEXIT.

  * @note    Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.

  */

-#define CH_CFG_USE_DYNAMIC                  FALSE

+#define CH_CFG_USE_DYNAMIC                  TRUE

 

 /** @} */

 

@@ -359,9 +362,16 @@
  * @details If enabled then the context switch circular trace buffer is

  *          activated.

  *

- * @note    The default is @p FALSE.

+ * @note    The default is @p CH_DBG_TRACE_MASK_NONE.

+ */

+#define CH_DBG_TRACE_MASK                   CH_DBG_TRACE_MASK_NONE

+

+/**

+ * @brief   Trace buffer entries.

+ * @note    The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is

+ *          different from @p CH_DBG_TRACE_MASK_NONE.

  */

-#define CH_DBG_ENABLE_TRACE                 FALSE

+#define CH_DBG_TRACE_BUFFER_SIZE            128

 

 /**

  * @brief   Debug option, stack checks.

@@ -383,7 +393,7 @@
  *

  * @note    The default is @p FALSE.

  */

-#define CH_DBG_FILL_THREADS                 TRUE

+#define CH_DBG_FILL_THREADS                 FALSE

 

 /**

  * @brief   Debug option, threads profiling.

@@ -426,10 +436,6 @@
 /**

  * @brief   Threads finalization hook.

  * @details User finalization code added to the @p chThdExit() API.

- *

- * @note    It is inserted into lock zone.

- * @note    It is also invoked when the threads simply return in order to

- *          terminate.

  */

 #define CH_CFG_THREAD_EXIT_HOOK(tp) {                                       \

   /* Add threads finalization code here.*/                                  \

@@ -440,7 +446,21 @@
  * @details This hook is invoked just before switching between threads.

  */

 #define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) {                              \

-  /* System halt code here.*/                                               \

+  /* Context switch code here.*/                                            \

+}

+

+/**

+ * @brief   ISR enter hook.

+ */

+#define CH_CFG_IRQ_PROLOGUE_HOOK() {                                        \

+  /* IRQ prologue code here.*/                                              \

+}

+

+/**

+ * @brief   ISR exit hook.

+ */

+#define CH_CFG_IRQ_EPILOGUE_HOOK() {                                        \

+  /* IRQ epilogue code here.*/                                              \

 }

 

 /**

@@ -449,7 +469,8 @@
  *          should be invoked from here.

  * @note    This macro can be used to activate a power saving mode.

  */

-#define CH_CFG_IDLE_ENTER_HOOK() {                                         \

+#define CH_CFG_IDLE_ENTER_HOOK() {                                          \

+  /* Idle-enter code here.*/                                                \

 }

 

 /**

@@ -458,7 +479,8 @@
  *          should be invoked from here.

  * @note    This macro can be used to deactivate a power saving mode.

  */

-#define CH_CFG_IDLE_LEAVE_HOOK() {                                         \

+#define CH_CFG_IDLE_LEAVE_HOOK() {                                          \

+  /* Idle-leave code here.*/                                                \

 }

 

 /**

@@ -487,6 +509,15 @@
   /* System halt code here.*/                                               \

 }

 

+/**

+ * @brief   Trace hook.

+ * @details This hook is invoked each time a new record is written in the

+ *          trace buffer.

+ */

+#define CH_CFG_TRACE_HOOK(tep) {                                            \

+  /* Trace code here.*/                                                     \

+}

+

 /** @} */

 

 /*===========================================================================*/

diff --git a/testhal/STM32/STM32F4xx/EICU/halconf_community.h b/testhal/STM32/STM32F4xx/EICU/halconf_community.h
index 47ee83f..e967c6a 100644
--- a/testhal/STM32/STM32F4xx/EICU/halconf_community.h
+++ b/testhal/STM32/STM32F4xx/EICU/halconf_community.h
@@ -59,6 +59,13 @@
 #define HAL_USE_CRC                 FALSE

 #endif

 

+/**

+ * @brief   Enables the RNG subsystem.

+ */

+#if !defined(HAL_USE_RNG) || defined(__DOXYGEN__)

+#define HAL_USE_RNG                 FALSE

+#endif

+

 /*===========================================================================*/

 /* FSMCNAND driver related settings.                                         */

 /*===========================================================================*/

diff --git a/testhal/STM32/STM32F4xx/EICU/main.c b/testhal/STM32/STM32F4xx/EICU/main.c
index 4b3d72c..90f8eb1 100644
--- a/testhal/STM32/STM32F4xx/EICU/main.c
+++ b/testhal/STM32/STM32F4xx/EICU/main.c
@@ -125,10 +125,10 @@ int main(void) {
   halInit();

   chSysInit();

 

-  palSetPadMode(GPIOB, GPIOB_PIN0, PAL_MODE_ALTERNATE(2) | PAL_STM32_PUDR_FLOATING);

-  palSetPadMode(GPIOB, GPIOB_PIN1, PAL_MODE_ALTERNATE(2) | PAL_STM32_PUDR_FLOATING);

-  palSetPadMode(GPIOB, GPIOB_PIN4, PAL_MODE_ALTERNATE(2) | PAL_STM32_PUDR_FLOATING);

-  palSetPadMode(GPIOB, GPIOB_PIN5, PAL_MODE_ALTERNATE(2) | PAL_STM32_PUDR_FLOATING);

+  palSetPadMode(GPIOB, GPIOB_PIN0, PAL_MODE_ALTERNATE(2));

+  palSetPadMode(GPIOB, GPIOB_PIN1, PAL_MODE_ALTERNATE(2));

+  palSetPadMode(GPIOB, GPIOB_PIN4, PAL_MODE_ALTERNATE(2));

+  palSetPadMode(GPIOB, GPIOB_PIN5, PAL_MODE_ALTERNATE(2));

 

   eicuStart(&EICUD3, &eicucfg);

   eicuEnable(&EICUD3);