Add QE support to STM32F4Discovery; add a test of the quadrature encoder driver

git-svn-id: https://nuttx.svn.sourceforge.net/svnroot/nuttx/trunk@4395 7fd9a85b-ad96-42d3-883c-3090e2eb8679
2012-02-15 17:51:30 +00:00 · 2012-02-15 17:51:30 +00:00 · b6cfbef366
parent b8fb066f9f
commit b6cfbef366
24 changed files with 1107 additions and 181 deletions
--- a/apps/ChangeLog.txt
+++ b/apps/ChangeLog.txt
@ -188,3 +188,5 @@
 	  dump the system log if CONFIG_SYSLOG is selected.

 6.16 2012-xx-xx Gregory Nutt <gnutt@nuttx.org>
+
+	* apps/examples/qencoder:  Add a quadrature driver test.
--- a/apps/examples/Makefile
+++ b/apps/examples/Makefile
@ -39,9 +39,9 @@

 SUBDIRS = adc buttons can composite dhcpd ftpc ftpd hello helloxx hidkbd \
 	igmp lcdrw mm mount nettest nsh null nx nxffs nxflat nxhello nximage \
-	nxlines nxtext ostest pashello pipe poll pwm rgmp romfs sendmail \
+	nxlines nxtext ostest pashello pipe poll pwm qencoder rgmp romfs \
 	serloop telnetd thttpd tiff touchscreen udp uip usbserial \
-	usbstorage usbterm wget wlan
+	sendmail usbstorage usbterm wget wlan

 # Sub-directories that might need context setup.  Directories may need
 # context setup for a variety of reasons, but the most common is because
@ -56,7 +56,7 @@ SUBDIRS = adc buttons can composite dhcpd ftpc ftpd hello helloxx hidkbd \
 CNTXTDIRS = pwm

 ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
-CNTXTDIRS += adc can composite ftpd dhcpd nettest telnetd
+CNTXTDIRS += adc can composite ftpd dhcpd nettest qencoder telnetd
 endif

 ifeq ($(CONFIG_EXAMPLES_HELLOXX_BUILTIN),y)
--- a/apps/examples/README.txt
+++ b/apps/examples/README.txt
@ -906,6 +906,33 @@ examples/pwm
       only available if CONFIG_PWM_PULSECOUNT is defined. Default: 0 (i.e., use
       the duration, not the count).

+examples/qencoder
+^^^^^^^^^^^^^^^^^
+
+  This example is a simple test of a Quadrature Encoder driver.  It simply reads
+  positional data from the encoder and prints it.,
+
+  This test depends on these specific QE/NSH configurations settings (your
+  specific PWM settings might require additional settings).
+
+    CONFIG_QENCODER - Enables quadrature encoder support (upper-half driver).
+    CONFIG_NSH_BUILTIN_APPS - Build the QE test as an NSH built-in function.
+      Default: Built as a standalone progrem.
+
+  Additional configuration options will mostly likely be required for the board-
+  specific lower-half driver.  See the README.txt file in your board configuration
+  directory.
+
+  Specific configuration options for this example include:
+ 
+  CONFIG_EXAMPLES_QENCODER_DEVPATH - The path to the QE device. Default:
+    /dev/qe0
+  CONFIG_EXAMPLES_QENCODER_NSAMPLES - If CONFIG_NSH_BUILTIN_APPS
+    is defined, then the number of samples is provided on the command line
+    and this value is ignored.  Otherwise, this number of samples is
+    collected and the program terminates.  Default:  Samples are collected
+    indefinitely.
+
 examples/rgmp
 ^^^^^^^^^^^^^

--- a/apps/examples/qencoder/Makefile
+++ b/apps/examples/qencoder/Makefile
@ -0,0 +1,105 @@
+############################################################################
+# apps/examples/qe/Makefile
+#
+#   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+-include $(TOPDIR)/.config
+-include $(TOPDIR)/Make.defs
+include $(APPDIR)/Make.defs
+
+# NuttX NX Graphics Example.
+
+ASRCS		=
+CSRCS		= qe_main.c
+
+AOBJS		= $(ASRCS:.S=$(OBJEXT))
+COBJS		= $(CSRCS:.c=$(OBJEXT))
+
+SRCS		= $(ASRCS) $(CSRCS)
+OBJS		= $(AOBJS) $(COBJS)
+
+ifeq ($(WINTOOL),y)
+  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+else
+  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+endif
+
+ROOTDEPPATH	= --dep-path .
+
+# Quadrature Encoder built-in application info
+
+APPNAME		= qe
+PRIORITY	= SCHED_PRIORITY_DEFAULT
+STACKSIZE	= 2048
+
+# Common build
+
+VPATH		= 
+
+all: .built
+.PHONY: context clean depend distclean
+
+$(AOBJS): %$(OBJEXT): %.S
+	$(call ASSEMBLE, $<, $@)
+
+$(COBJS): %$(OBJEXT): %.c
+	$(call COMPILE, $<, $@)
+
+.built: $(OBJS)
+	@( for obj in $(OBJS) ; do \
+		$(call ARCHIVE, $(BIN), $${obj}); \
+	done ; )
+	@touch .built
+
+.context:
+ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
+	$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
+	@touch $@
+endif
+
+context: .context
+
+.depend: Makefile $(SRCS)
+	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@touch $@
+
+depend: .depend
+
+clean:
+	@rm -f *.o *~ .*.swp .built
+	$(call CLEAN)
+
+distclean: clean
+	@rm -f Make.dep .depend
+
+-include Make.dep
--- a/apps/examples/qencoder/qe.h
+++ b/apps/examples/qencoder/qe.h
@ -0,0 +1,123 @@
+/****************************************************************************
+ * examples/examples/qe/qe.h
+ *
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_EXAMPLES_QENCODER_QE_H
+#define __APPS_EXAMPLES_QENCODER_QE_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Definitions
+ ****************************************************************************/
+/* Configuration ************************************************************/
+/* CONFIG_NSH_BUILTIN_APPS - Build the QE test as an NSH built-in function.
+ *  Default: Built as a standalone problem
+ * CONFIG_EXAMPLES_QENCODER_DEVPATH - The path to the QE device. Default:
+ *  /dev/qe0
+ * CONFIG_EXAMPLES_QENCODER_NSAMPLES - If CONFIG_NSH_BUILTIN_APPS
+ *   is defined, then the number of samples is provided on the command line
+ *   and this value is ignored.  Otherwise, this number of samples is
+ *   collected and the program terminates.  Default:  Samples are collected
+ *   indefinitely.
+ */
+
+#ifndef CONFIG_QENCODER
+#  error "QE device support is not enabled (CONFIG_QENCODER)"
+#endif
+
+#ifndef CONFIG_EXAMPLES_QENCODER_DEVPATH
+#  define CONFIG_EXAMPLES_QENCODER_DEVPATH "/dev/qe0"
+#endif
+
+/* Debug ********************************************************************/
+
+#ifdef CONFIG_CPP_HAVE_VARARGS
+#  ifdef CONFIG_DEBUG
+#    define message(...) lib_rawprintf(__VA_ARGS__)
+#    define msgflush()
+#  else
+#    define message(...) printf(__VA_ARGS__)
+#    define msgflush() fflush(stdout)
+#  endif
+#else
+#  ifdef CONFIG_DEBUG
+#    define message lib_rawprintf
+#    define msgflush()
+#  else
+#    define message printf
+#    define msgflush() fflush(stdout)
+#  endif
+#endif
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+struct qe_example_s
+{
+  bool reset;
+  int  nloops;
+};
+#endif
+
+/****************************************************************************
+ * Public Variables
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+extern struct qe_example_s g_qeexample;
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: qe_devinit()
+ *
+ * Description:
+ *   Perform architecuture-specific initialization of the QE hardware.  This
+ *   interface must be provided by all configurations using apps/examples/qe
+ *
+ ****************************************************************************/
+
+int qe_devinit(void);
+
+#endif /* __APPS_EXAMPLES_QENCODER_QE_H */
--- a/apps/examples/qencoder/qe_main.c
+++ b/apps/examples/qencoder/qe_main.c
@ -0,0 +1,310 @@
+/****************************************************************************
+ * examples/qe/qe_main.c
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <sys/ioctl.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <limits.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/sensors/qencoder.h>
+
+#include "qe.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+#  define MAIN_NAME   qe_main
+#  define MAIN_STRING "qe_main: "
+#else
+#  define MAIN_NAME   user_start
+#  define MAIN_STRING "user_start: "
+#endif
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+struct qe_example_s g_qeexample;
+#endif
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: qe_help
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+static void qe_help(void)
+{
+  message("\nUsage: qe [OPTIONS]\n\n");
+  message("OPTIONS include:\n");
+  message("  [-n samples] number of samples\n");
+  message("  [-r] reset the count\n");
+  message("  [-h] shows this message and exits\n\n");
+}
+#endif
+
+/****************************************************************************
+ * Name: arg_string
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+int arg_string(FAR char **arg, FAR char **value)
+{
+  FAR char *ptr = *arg;
+
+  if (ptr[2] == '\0')
+    {
+      *value = arg[1];
+      return 2;
+    }
+  else
+    {
+      *value = &ptr[2];
+      return 1;
+    }
+}
+#endif
+
+/****************************************************************************
+ * Name: arg_decimal
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+int arg_decimal(FAR char **arg, FAR long *value)
+{
+  FAR char *string;
+  int ret;
+
+  ret = arg_string(arg, &string);
+  *value = strtol(string, NULL, 10);
+  return ret;
+}
+#endif
+
+/****************************************************************************
+ * Name: parse_args
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+void parse_args(int argc, FAR char **argv)
+{
+  FAR char *ptr;
+  long value;
+  int index;
+  int nargs;
+
+  g_qeexample.reset  = false;
+  g_qeexample.nloops = 1;
+
+  for (index = 1; index < argc; )
+    {
+      ptr = argv[index];
+      if (ptr[0] != '-')
+        {
+          message("Invalid options format: %s\n", ptr);
+          exit(0);
+        }
+
+      switch (ptr[1])
+        {
+          case 'n':
+            nargs = arg_decimal(&argv[index], &value);
+            if (value < 0 || value > INT_MAX)
+              {
+                message("Sample count out of range: %ld\n", value);
+                exit(1);
+              }
+
+            g_qeexample.nloops = (int)value;
+            index += nargs;
+            break;
+
+          case 'r':
+            g_qeexample.reset = true;
+            index++;
+            break;
+
+          case 'h':
+            qe_help();
+            exit(EXIT_SUCCESS);
+        
+          default:
+            message("Unsupported option: %s\n", ptr);
+            qe_help();
+            exit(EXIT_FAILURE);
+        }
+    }
+}
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: user_start/qe_main
+ ****************************************************************************/
+
+int MAIN_NAME(int argc, char *argv[])
+{
+  int32_t position;
+  int fd;
+  int exitval = EXIT_SUCCESS;
+  int ret;
+#if defined(CONFIG_NSH_BUILTIN_APPS) || defined(CONFIG_EXAMPLES_QENCODER_NSAMPLES)
+  int nloops;
+#endif
+
+  /* Parse command line arguments */
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+  parse_args(argc, argv);
+#endif
+
+  /* Initialization of the encoder hardware is performed by logic external to
+   * this test.
+   */
+
+  message(MAIN_STRING "Initializing external encoder\n");
+  ret = qe_devinit();
+  if (ret != OK)
+    {
+      message(MAIN_STRING "qe_devinit failed: %d\n", ret);
+      exitval = EXIT_FAILURE;
+      goto errout;
+    }
+
+  /* Open the encoder device for reading */
+
+  message(MAIN_STRING "Hardware initialized. Opening the encoder device\n");
+  fd = open(CONFIG_EXAMPLES_QENCODER_DEVPATH, O_RDONLY);
+  if (fd < 0)
+    {
+      message(MAIN_STRING "open %s failed: %d\n",
+              CONFIG_EXAMPLES_QENCODER_DEVPATH, errno);
+      exitval = EXIT_FAILURE;
+      goto errout_with_dev;
+    }
+
+  /* Reset the count if so requested */
+
+  if (g_qeexample.reset)
+    {
+      message(MAIN_STRING "Resetting the count...\n");
+      ret = ioctl(fd, QEIOC_RESET, 0);
+      if (ret < 0)
+        {
+          message(MAIN_STRING "ioctl(QEIOC_RESET) failed: %d\n", errno);
+          exitval = EXIT_FAILURE;
+          goto errout_with_dev;
+        }
+    }
+
+  /* Now loop the appropriate number of times, displaying the collected
+   * encoder samples.
+   */
+
+#if defined(CONFIG_NSH_BUILTIN_APPS)
+  message(MAIN_STRING "Number of samples: %d\n", g_qeexample.nloops);
+  for (nloops = 0; nloops < g_qeexample.nloops; nloops++)
+#elif defined(CONFIG_EXAMPLES_QENCODER_NSAMPLES)
+  message(MAIN_STRING "Number of samples: %d\n", CONFIG_EXAMPLES_QENCODER_NSAMPLES);
+  for (nloops = 0; nloops < CONFIG_EXAMPLES_QENCODER_NSAMPLES; nloops++)
+#else
+  for (;;)
+#endif
+    {
+      /* Flush any output before the loop entered or from the previous pass
+       * through the loop.
+       */
+
+      msgflush();
+
+      /* Get the positions data using the ioctl */
+
+      ret = ioctl(fd, QEIOC_POSITION, (unsigned long)((uintptr_t)&position));
+      if (ret < 0)
+        {
+          message(MAIN_STRING "ioctl(QEIOC_POSITION) failed: %d\n", errno);
+          exitval = EXIT_FAILURE;
+          goto errout_with_dev;
+        }
+
+      /* Print the sample data on successful return */
+
+      else
+        {
+          message(MAIN_STRING "  %d\n", position);
+        }
+    }
+
+errout_with_dev:
+  close(fd);
+
+errout:
+  message("Terminating!\n");
+  msgflush();
+  return exitval;
+}
--- a/nuttx/arch/arm/src/stm32/chip/stm32f40xxx_pinmap.h
+++ b/nuttx/arch/arm/src/stm32/chip/stm32f40xxx_pinmap.h
@ -455,122 +455,122 @@
 #define GPIO_TIM1_CH1N_1      (GPIO_ALT|GPIO_AF1|GPIO_PORTA|GPIO_PIN7)
 #define GPIO_TIM1_CH1N_2      (GPIO_ALT|GPIO_AF1|GPIO_PORTB|GPIO_PIN13)
 #define GPIO_TIM1_CH1N_3      (GPIO_ALT|GPIO_AF1|GPIO_PORTE|GPIO_PIN8)
-#define GPIO_TIM1_CH1IN_1     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN8)
-#define GPIO_TIM1_CH1IN_2     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9)
+#define GPIO_TIM1_CH1IN_1     (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN8)
+#define GPIO_TIM1_CH1IN_2     (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9)
 #define GPIO_TIM1_CH1OUT_1    (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN8)
 #define GPIO_TIM1_CH1OUT_2    (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN9)
 #define GPIO_TIM1_CH2N_1      (GPIO_ALT|GPIO_AF1|GPIO_PORTB|GPIO_PIN0)
 #define GPIO_TIM1_CH2N_2      (GPIO_ALT|GPIO_AF1|GPIO_PORTB|GPIO_PIN14)
 #define GPIO_TIM1_CH2N_3      (GPIO_ALT|GPIO_AF1|GPIO_PORTE|GPIO_PIN10)
-#define GPIO_TIM1_CH2IN_1     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN9)
-#define GPIO_TIM1_CH2IN_2     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
+#define GPIO_TIM1_CH2IN_1     (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN9)
+#define GPIO_TIM1_CH2IN_2     (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
 #define GPIO_TIM1_CH2OUT_1    (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN9)
 #define GPIO_TIM1_CH2OUT_2    (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN11)
 #define GPIO_TIM1_CH3N_1      (GPIO_ALT|GPIO_AF1|GPIO_PORTB|GPIO_PIN1)
 #define GPIO_TIM1_CH3N_2      (GPIO_ALT|GPIO_AF1|GPIO_PORTC|GPIO_PIN15)
 #define GPIO_TIM1_CH3N_3      (GPIO_ALT|GPIO_AF1|GPIO_PORTE|GPIO_PIN12)
-#define GPIO_TIM1_CH3IN_1     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
-#define GPIO_TIM1_CH3IN_2     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13)
+#define GPIO_TIM1_CH3IN_1     (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
+#define GPIO_TIM1_CH3IN_2     (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13)
 #define GPIO_TIM1_CH3OUT_1    (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN10)
 #define GPIO_TIM1_CH3OUT_2    (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN13)
-#define GPIO_TIM1_CH4IN_1     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN11)
-#define GPIO_TIM1_CH4IN_2     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14)
+#define GPIO_TIM1_CH4IN_1     (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN11)
+#define GPIO_TIM1_CH4IN_2     (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14)
 #define GPIO_TIM1_CH4OUT_1    (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN11)
 #define GPIO_TIM1_CH4OUT_2    (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN14)
-#define GPIO_TIM1_ETR_1       (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTA|GPIO_PIN12)
-#define GPIO_TIM1_ETR_2       (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTE|GPIO_PIN7)
+#define GPIO_TIM1_ETR_1       (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_FLOAT|GPIO_PORTA|GPIO_PIN12)
+#define GPIO_TIM1_ETR_2       (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_FLOAT|GPIO_PORTE|GPIO_PIN7)

-#define GPIO_TIM2_CH1IN_1     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN0)
-#define GPIO_TIM2_CH1IN_2     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN15)
-#define GPIO_TIM2_CH1IN_3     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN5)
+#define GPIO_TIM2_CH1IN_1     (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN0)
+#define GPIO_TIM2_CH1IN_2     (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN15)
+#define GPIO_TIM2_CH1IN_3     (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN5)
 #define GPIO_TIM2_CH1OUT_1    (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN0)
 #define GPIO_TIM2_CH1OUT_2    (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
 #define GPIO_TIM2_CH1OUT_3    (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN5)
-#define GPIO_TIM2_CH2IN_1     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN1)
-#define GPIO_TIM2_CH2IN_2     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN3)
+#define GPIO_TIM2_CH2IN_1     (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_TIM2_CH2IN_2     (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN3)
 #define GPIO_TIM2_CH2OUT_1    (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN1)
 #define GPIO_TIM2_CH2OUT_2    (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN3)
-#define GPIO_TIM2_CH3IN_1     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN2)
-#define GPIO_TIM2_CH3IN_2     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_TIM2_CH3IN_1     (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN2)
+#define GPIO_TIM2_CH3IN_2     (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN10)
 #define GPIO_TIM2_CH3OUT_1    (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN2)
 #define GPIO_TIM2_CH3OUT_2    (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN10)
-#define GPIO_TIM2_CH4IN_1     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN3)
-#define GPIO_TIM2_CH4IN_2     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN11)
+#define GPIO_TIM2_CH4IN_1     (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN3)
+#define GPIO_TIM2_CH4IN_2     (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN11)
 #define GPIO_TIM2_CH4OUT_1    (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN3)
 #define GPIO_TIM2_CH4OUT_2    (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN11)
-#define GPIO_TIM2_ETR_1       (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTA|GPIO_PIN0)
-#define GPIO_TIM2_ETR_2       (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTA|GPIO_PIN15)
-#define GPIO_TIM2_ETR_3       (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTA|GPIO_PIN5)
+#define GPIO_TIM2_ETR_1       (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_FLOAT|GPIO_PORTA|GPIO_PIN0)
+#define GPIO_TIM2_ETR_2       (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_FLOAT|GPIO_PORTA|GPIO_PIN15)
+#define GPIO_TIM2_ETR_3       (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_FLOAT|GPIO_PORTA|GPIO_PIN5)

-#define GPIO_TIM3_CH1IN_1     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN6)
-#define GPIO_TIM3_CH1IN_2     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN4)
-#define GPIO_TIM3_CH1IN_3     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN6)
+#define GPIO_TIM3_CH1IN_1     (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN6)
+#define GPIO_TIM3_CH1IN_2     (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN4)
+#define GPIO_TIM3_CH1IN_3     (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN6)
 #define GPIO_TIM3_CH1OUT_1    (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN6)
 #define GPIO_TIM3_CH1OUT_2    (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN4)
 #define GPIO_TIM3_CH1OUT_3    (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN6)
-#define GPIO_TIM3_CH2IN_1     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN7)
-#define GPIO_TIM3_CH2IN_2     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
-#define GPIO_TIM3_CH2IN_3     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN7)
+#define GPIO_TIM3_CH2IN_1     (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN7)
+#define GPIO_TIM3_CH2IN_2     (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
+#define GPIO_TIM3_CH2IN_3     (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN7)
 #define GPIO_TIM3_CH2OUT_1    (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN7)
 #define GPIO_TIM3_CH2OUT_2    (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN5)
 #define GPIO_TIM3_CH2OUT_3    (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN7)
-#define GPIO_TIM3_CH3IN_1     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
-#define GPIO_TIM3_CH3IN_2     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN8)
+#define GPIO_TIM3_CH3IN_1     (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
+#define GPIO_TIM3_CH3IN_2     (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN8)
 #define GPIO_TIM3_CH3OUT_1    (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN0)
 #define GPIO_TIM3_CH3OUT_2    (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8)
-#define GPIO_TIM3_CH4IN_1     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN1)
-#define GPIO_TIM3_CH4IN_2     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN9)
+#define GPIO_TIM3_CH4IN_1     (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_TIM3_CH4IN_2     (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN9)
 #define GPIO_TIM3_CH4OUT_1    (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN1)
 #define GPIO_TIM3_CH4OUT_2    (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN9)
-#define GPIO_TIM3_ETR         (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN2)
+#define GPIO_TIM3_ETR         (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN2)

-#define GPIO_TIM4_CH1IN_1     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN6)
-#define GPIO_TIM4_CH1IN_2     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN12)
+#define GPIO_TIM4_CH1IN_1     (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN6)
+#define GPIO_TIM4_CH1IN_2     (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN12)
 #define GPIO_TIM4_CH1OUT_1    (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN6)
 #define GPIO_TIM4_CH1OUT_2    (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN12)
-#define GPIO_TIM4_CH2IN_1     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7)
-#define GPIO_TIM4_CH2IN_2     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
+#define GPIO_TIM4_CH2IN_1     (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7)
+#define GPIO_TIM4_CH2IN_2     (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
 #define GPIO_TIM4_CH2OUT_1    (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN7)
 #define GPIO_TIM4_CH2OUT_2    (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN13)
-#define GPIO_TIM4_CH3IN_1     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8)
-#define GPIO_TIM4_CH3IN_2     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
+#define GPIO_TIM4_CH3IN_1     (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8)
+#define GPIO_TIM4_CH3IN_2     (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
 #define GPIO_TIM4_CH3OUT_1    (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN8)
 #define GPIO_TIM4_CH3OUT_2    (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN14)
-#define GPIO_TIM4_CH4IN_1     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN9)
-#define GPIO_TIM4_CH4IN_2     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN15)
+#define GPIO_TIM4_CH4IN_1     (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN9)
+#define GPIO_TIM4_CH4IN_2     (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN15)
 #define GPIO_TIM4_CH4OUT_1    (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN9)
 #define GPIO_TIM4_CH4OUT_2    (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN15)
-#define GPIO_TIM4_ETR         (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTE|GPIO_PIN0)
+#define GPIO_TIM4_ETR         (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_FLOAT|GPIO_PORTE|GPIO_PIN0)

-#define GPIO_TIM5_CH1IN_1     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN0)
-#define GPIO_TIM5_CH1IN_2     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTH|GPIO_PIN10)
+#define GPIO_TIM5_CH1IN_1     (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN0)
+#define GPIO_TIM5_CH1IN_2     (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTH|GPIO_PIN10)
 #define GPIO_TIM5_CH1OUT_1    (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN0)
 #define GPIO_TIM5_CH1OUT_2    (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTH|GPIO_PIN10)
-#define GPIO_TIM5_CH2IN_1     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN1)
-#define GPIO_TIM5_CH2IN_2     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTH|GPIO_PIN11)
+#define GPIO_TIM5_CH2IN_1     (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_TIM5_CH2IN_2     (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTH|GPIO_PIN11)
 #define GPIO_TIM5_CH2OUT_1    (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN1)
 #define GPIO_TIM5_CH2OUT_2    (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTH|GPIO_PIN11)
-#define GPIO_TIM5_CH3IN_1     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN2)
-#define GPIO_TIM5_CH3IN_2     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTH|GPIO_PIN12)
+#define GPIO_TIM5_CH3IN_1     (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN2)
+#define GPIO_TIM5_CH3IN_2     (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTH|GPIO_PIN12)
 #define GPIO_TIM5_CH3OUT_1    (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN2)
 #define GPIO_TIM5_CH3OUT_2    (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTH|GPIO_PIN12)
-#define GPIO_TIM5_CH4IN_1     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN3)
-#define GPIO_TIM5_CH4IN_2     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTI|GPIO_PIN0)
+#define GPIO_TIM5_CH4IN_1     (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN3)
+#define GPIO_TIM5_CH4IN_2     (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTI|GPIO_PIN0)
 #define GPIO_TIM5_CH4OUT_1    (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN3)
 #define GPIO_TIM5_CH4OUT_2    (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTI|GPIO_PIN0)
-#define GPIO_TIM5_ETR         (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTH|GPIO_PIN10)
+#define GPIO_TIM5_ETR         (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_FLOAT|GPIO_PORTH|GPIO_PIN10)

 #define GPIO_TIM8_BKIN_1      (GPIO_ALT|GPIO_AF3|GPIO_PORTA|GPIO_PIN6)
 #define GPIO_TIM8_BKIN_2      (GPIO_ALT|GPIO_AF3|GPIO_PORTI|GPIO_PIN4)
 #define GPIO_TIM8_CH1N_1      (GPIO_ALT|GPIO_AF3|GPIO_PORTA|GPIO_PIN5)
 #define GPIO_TIM8_CH1N_2      (GPIO_ALT|GPIO_AF3|GPIO_PORTA|GPIO_PIN7)
 #define GPIO_TIM8_CH1N_3      (GPIO_ALT|GPIO_AF3|GPIO_PORTH|GPIO_PIN13)
-#define GPIO_TIM8_CH1IN_1     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN6)
-#define GPIO_TIM8_CH1IN_2     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTI|GPIO_PIN5)
+#define GPIO_TIM8_CH1IN_1     (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN6)
+#define GPIO_TIM8_CH1IN_2     (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTI|GPIO_PIN5)
 #define GPIO_TIM8_CH1OUT_1    (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN6)
 #define GPIO_TIM8_CH1OUT_2    (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTI|GPIO_PIN5)
-#define GPIO_TIM8_CH2IN_1     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN7)
-#define GPIO_TIM8_CH2IN_2     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTI|GPIO_PIN6)
+#define GPIO_TIM8_CH2IN_1     (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN7)
+#define GPIO_TIM8_CH2IN_2     (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTI|GPIO_PIN6)
 #define GPIO_TIM8_CH2OUT_1    (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN7)
 #define GPIO_TIM8_CH2OUT_2    (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTI|GPIO_PIN6)
 #define GPIO_TIM8_CH2N_1      (GPIO_ALT|GPIO_AF3|GPIO_PORTB|GPIO_PIN0)
@ -579,52 +579,52 @@
 #define GPIO_TIM8_CH3N_1      (GPIO_ALT|GPIO_AF3|GPIO_PORTB|GPIO_PIN1)
 #define GPIO_TIM8_CH3N_2      (GPIO_ALT|GPIO_AF3|GPIO_PORTC|GPIO_PIN15)
 #define GPIO_TIM8_CH3N_3      (GPIO_ALT|GPIO_AF3|GPIO_PORTH|GPIO_PIN15)
-#define GPIO_TIM8_CH3IN_1     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN8)
-#define GPIO_TIM8_CH3IN_2     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTI|GPIO_PIN7)
+#define GPIO_TIM8_CH3IN_1     (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN8)
+#define GPIO_TIM8_CH3IN_2     (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTI|GPIO_PIN7)
 #define GPIO_TIM8_CH3OUT_1    (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8)
 #define GPIO_TIM8_CH3OUT_2    (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTI|GPIO_PIN7)
-#define GPIO_TIM8_CH4IN_1     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN9)
-#define GPIO_TIM8_CH4IN_2     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTI|GPIO_PIN2)
+#define GPIO_TIM8_CH4IN_1     (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN9)
+#define GPIO_TIM8_CH4IN_2     (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTI|GPIO_PIN2)
 #define GPIO_TIM8_CH4OUT_1    (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN9)
 #define GPIO_TIM8_CH4OUT_2    (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTI|GPIO_PIN2)
-#define GPIO_TIM8_ETR_1       (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTA|GPIO_PIN0)
-#define GPIO_TIM8_ETR_2       (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTI|GPIO_PIN3)
+#define GPIO_TIM8_ETR_1       (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_FLOAT|GPIO_PORTA|GPIO_PIN0)
+#define GPIO_TIM8_ETR_2       (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_FLOAT|GPIO_PORTI|GPIO_PIN3)

-#define GPIO_TIM9_CH1IN_1     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN2)
-#define GPIO_TIM9_CH1IN_2     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN5)
+#define GPIO_TIM9_CH1IN_1     (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN2)
+#define GPIO_TIM9_CH1IN_2     (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN5)
 #define GPIO_TIM9_CH1OUT_1    (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN2)
 #define GPIO_TIM9_CH1OUT_2    (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN5)
-#define GPIO_TIM9_CH2IN_1     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN3)
-#define GPIO_TIM9_CH2IN_2     (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN6)
+#define GPIO_TIM9_CH2IN_1     (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN3)
+#define GPIO_TIM9_CH2IN_2     (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN6)
 #define GPIO_TIM9_CH2OUT_1    (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN3)
 #define GPIO_TIM9_CH2OUT_2    (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN6)

-#define GPIO_TIM10_CH1IN_1    (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8)
-#define GPIO_TIM10_CH1IN_2    (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTF|GPIO_PIN6)
+#define GPIO_TIM10_CH1IN_1    (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8)
+#define GPIO_TIM10_CH1IN_2    (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTF|GPIO_PIN6)
 #define GPIO_TIM10_CH1OUT_1   (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN8)
 #define GPIO_TIM10_CH1OUT_2   (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTF|GPIO_PIN6)

-#define GPIO_TIM11_CH1IN_1    (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN9)
-#define GPIO_TIM11_CH1IN_2    (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTF|GPIO_PIN7)
+#define GPIO_TIM11_CH1IN_1    (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN9)
+#define GPIO_TIM11_CH1IN_2    (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTF|GPIO_PIN7)
 #define GPIO_TIM11_CH1OUT_1   (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN9)
 #define GPIO_TIM11_CH1OUT_2   (GPIO_ALT|GPIO_AF3|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTF|GPIO_PIN7)

-#define GPIO_TIM12_CH1IN_1    (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTH|GPIO_PIN6)
-#define GPIO_TIM12_CH1IN_2    (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN14)
+#define GPIO_TIM12_CH1IN_1    (GPIO_ALT|GPIO_AF9|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTH|GPIO_PIN6)
+#define GPIO_TIM12_CH1IN_2    (GPIO_ALT|GPIO_AF9|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN14)
 #define GPIO_TIM12_CH1OUT_1   (GPIO_ALT|GPIO_AF9|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTH|GPIO_PIN6)
 #define GPIO_TIM12_CH1OUT_2   (GPIO_ALT|GPIO_AF9|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN14)
-#define GPIO_TIM12_CH2IN_1    (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15)
-#define GPIO_TIM12_CH2IN_2    (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTH|GPIO_PIN9)
+#define GPIO_TIM12_CH2IN_1    (GPIO_ALT|GPIO_AF9|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15)
+#define GPIO_TIM12_CH2IN_2    (GPIO_ALT|GPIO_AF9|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTH|GPIO_PIN9)
 #define GPIO_TIM12_CH2OUT_1   (GPIO_ALT|GPIO_AF9|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN15)
 #define GPIO_TIM12_CH2OUT_2   (GPIO_ALT|GPIO_AF9|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTH|GPIO_PIN9)

-#define GPIO_TIM13_CH1IN_1    (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN6)
-#define GPIO_TIM13_CH1IN_2    (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTF|GPIO_PIN8)
+#define GPIO_TIM13_CH1IN_1    (GPIO_ALT|GPIO_AF9|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN6)
+#define GPIO_TIM13_CH1IN_2    (GPIO_ALT|GPIO_AF9|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTF|GPIO_PIN8)
 #define GPIO_TIM13_CH1OUT_1   (GPIO_ALT|GPIO_AF9|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN6)
 #define GPIO_TIM13_CH1OUT_2   (GPIO_ALT|GPIO_AF9|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTF|GPIO_PIN8)

-#define GPIO_TIM14_CH1IN_1    (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN7)
-#define GPIO_TIM14_CH1IN_2    (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTF|GPIO_PIN9)
+#define GPIO_TIM14_CH1IN_1    (GPIO_ALT|GPIO_AF9|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN7)
+#define GPIO_TIM14_CH1IN_2    (GPIO_ALT|GPIO_AF9|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTF|GPIO_PIN9)
 #define GPIO_TIM14_CH1OUT_1   (GPIO_ALT|GPIO_AF9|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN7)
 #define GPIO_TIM14_CH1OUT_2   (GPIO_ALT|GPIO_AF9|GPIO_SPEED_50MHz|GPIO_PUSHPULL|GPIO_PORTF|GPIO_PIN9)

--- a/nuttx/arch/arm/src/stm32/stm32_qencoder.c
+++ b/nuttx/arch/arm/src/stm32/stm32_qencoder.c
@ -65,7 +65,7 @@
 * Pre-processor Definitions
 ************************************************************************************/
 /* Debug ****************************************************************************/
-/* Non-standard debug that may be enabled just for testing QENCODER */
+/* Non-standard debug that may be enabled just for testing the quadrature encoder */

 #ifndef CONFIG_DEBUG
 #  undef CONFIG_DEBUG_QENCODER
@ -647,17 +647,13 @@ static int stm32_setup(FAR struct qe_lowerhalf_s *lower)
  stm32_configgpio(priv->config->ti1cfg);
  stm32_configgpio(priv->config->ti2cfg);
  
-  /* Set the encoder Mode 3*/
+  /* Set the encoder Mode 3 */
 #warning REVISIT
  smcr = stm32_getreg16(priv, STM32_GTIM_SMCR_OFFSET);
  smcr &= ~GTIM_SMCR_SMS_MASK;
  smcr |= GTIM_SMCR_ENCMD3;
  stm32_putreg16(priv, STM32_GTIM_SMCR_OFFSET, smcr);

-  /* Write to TIM CCER */
-
-  stm32_putreg16(priv, STM32_GTIM_CCER_OFFSET, ccer);
-
  /* TI1 Channel Configuration */
  /* Disable the Channel 1: Reset the CC1E Bit */

@ -988,11 +984,11 @@ static int stm32_ioctl(FAR struct qe_lowerhalf_s *lower, int cmd, unsigned long
 *
 * Description:
 *   Initialize a quadrature encoder interface.  This function must be called from
- *   board-specific logic after input pins have been configured.
+ *   board-specific logic.
 *
 * Input Parameters:
 *   devpath - The full path to the driver to register. E.g., "/dev/qe0"
- *   tim     - The timer number to used.  time must be an element of {1,2,3,4,5,8}
+ *   tim     - The timer number to used.  'tim' must be an element of {1,2,3,4,5,8}
 *
 * Returned Values:
 *   Zero on success; A negated errno value is returned on failure.
@ -1007,8 +1003,9 @@ int stm32_qeinitialize(FAR const char *devpath, int tim)
  /* Find the pre-allocated timer state structure corresponding to this timer */

  priv = stm32_tim2lower(tim);
-  if (priv)
+  if (!priv)
    {
+      qedbg("TIM%d support not configured\n", tim);
      return -ENXIO;
    }

@ -1016,6 +1013,7 @@ int stm32_qeinitialize(FAR const char *devpath, int tim)

  if (priv->inuse)
    {
+      qedbg("TIM%d is in-used\n", tim);
      return -EBUSY;
    }

@ -1024,6 +1022,7 @@ int stm32_qeinitialize(FAR const char *devpath, int tim)
  ret = qe_register(devpath, (FAR struct qe_lowerhalf_s *)priv);
  if (ret < 0)
    {
+      qedbg("qe_register failed: %d\n", ret);
      return ret;
    }

--- a/nuttx/arch/arm/src/stm32/stm32_qencoder.h
+++ b/nuttx/arch/arm/src/stm32/stm32_qencoder.h
@ -96,11 +96,11 @@
 *
 * Description:
 *   Initialize a quadrature encoder interface.  This function must be called from
- *   board-specific logic after input pins have been configured.
+ *   board-specific logic..
 *
 * Input Parameters:
 *   devpath - The full path to the driver to register. E.g., "/dev/qe0"
- *   tim     - The timer number to used.  time must be an element of {1,2,3,4,5,8}
+ *   tim     - The timer number to used.  'tim' must be an element of {1,2,3,4,5,8}
 *
 * Returned Values:
 *   Zero on success; A negated errno value is returned on failure.
--- a/nuttx/configs/stm32f4discovery/README.txt
+++ b/nuttx/configs/stm32f4discovery/README.txt
@ -11,9 +11,11 @@ Contents
  - GNU Toolchain Options
  - IDEs
  - NuttX buildroot Toolchain
-  - stm32f4discovery-specific Configuration Options
  - LEDs
  - PWM
+  - UARTs
+  - Timer Inputs/Outputs
+  - STM32F4Discovery-specific Configuration Options
  - Configurations

 Development Environment
@ -139,7 +141,7 @@ NuttX buildroot Toolchain
  1. You must have already configured Nuttx in <some-dir>/nuttx.

     cd tools
-     ./configure.sh stm32f4discovery/<sub-dir>
+     ./configure.sh STM32F4Discovery/<sub-dir>

  2. Download the latest buildroot package into <some-dir>

@ -165,10 +167,10 @@ NuttX buildroot Toolchain
 LEDs
 ====

-The stm32f4discovery board has four LEDs; green, organge, red and blue on the
+The STM32F4Discovery board has four LEDs; green, organge, red and blue on the
 board.. These LEDs are not used by the board port unless CONFIG_ARCH_LEDS is
 defined.  In that case, the usage by the board port is defined in
-include/board.h and src/up_leds.c. The LEDs are used to encode OS-related\
+include/board.h and src/up_leds.c. The LEDs are used to encode OS-related
 events as follows:

 	SYMBOL				Meaning					LED1*	LED2	LED3	LED4
@ -194,12 +196,120 @@ events as follows:
 PWM
 ===

-The stm32f4discovery has no real on-board PWM devices, but the board can be
+The STM32F4Discovery has no real on-board PWM devices, but the board can be
 configured to output a pulse train using TIM4 CH2 on PD3.  This pin is
 available next to the audio jack.

-stm32f4discovery-specific Configuration Options
-============================================
+UART
+====
+
+UART/USART PINS
+---------------
+
+USART1
+  CK      PA8
+  CTS     PA11*
+  RTS     PA12*
+  RX      PA10*, PB7
+  TX      PA9*, PB6*
+USART2
+  CK      PA4*, PD7
+  CTS     PA0*, PD3
+  RTS     PA1, PD4*
+  RX      PA3, PD6
+  TX      PA2, PD5*
+USART3
+  CK      PB12, PC12*, PD10
+  CTS     PB13, PD11
+  RTS     PB14, PD12*
+  RX      PB11, PC11, PD9
+  TX      PB10*, PC10*, PD8
+UART4
+  RX      PA1, PC11
+  TX      PA0*, PC10*
+UART5
+  RX      PD2
+  TX      PC12*
+USART6
+  CK      PC8, PG7**
+  CTS     PG13**, PG15**
+  RTS     PG12**, PG8**
+  RX      PC7*, PG9**
+  TX      PC6, PG14**
+
+ * Indicates pins that have other on-board functins and should be used only
+   with care (See table 5 in the STM32F4Discovery User Guide).  The rest are
+   free I/O pins.
+** Port G pins are not supported by the MCU
+ 
+Default USART/UART Configuration
+--------------------------------
+ 
+USART2 is enabled in all configurations (see */defconfig).  RX and TX are
+configured on pins PA3 and PA2, respectively (see include/board.h).
+
+Timer Inputs/Outputs
+====================
+
+TIM1
+  CH1     PA8, PE9
+  CH2     PA9*, PE11
+  CH3     PA10*, PE13
+  CH4     PA11*, PE14
+TIM2
+  CH1     PA0*, PA15, PA5*
+  CH2     PA1, PB3*
+  CH3     PA2, PB10*
+  CH4     PA3, PB11
+TIM3
+  CH1     PA6*, PB4, PC6
+  CH2     PA7*, PB5, PC7*
+  CH3     PB0, PC8
+  CH4     PB1, PC9
+TIM4
+  CH1     PB6*, PD12*
+  CH2     PB7, PD13*
+  CH3     PB8, PD14*
+  CH4     PB9*, PD15*
+TIM5
+  CH1     PA0*, PH10**
+  CH2     PA1, PH11**
+  CH3     PA2, PH12**
+  CH4     PA3, PI0
+TIM8
+  CH1     PC6, PI5
+  CH2     PC7*, PI6
+  CH3     PC8, PI7
+  CH4     PC9, PI2
+TIM9
+  CH1     PA2, PE5
+  CH2     PA3, PE6
+TIM10
+  CH1     PB8, PF6
+TIM11
+  CH1     PB9*, PF7
+TIM12
+  CH1     PH6**, PB14
+  CH2     PC15, PH9**
+TIM13
+  CH1     PA6*, PF8
+TIM14
+  CH1     PA7*, PF9
+
+ * Indicates pins that have other on-board functins and should be used only
+   with care (See table 5 in the STM32F4Discovery User Guide).  The rest are
+   free I/O pins.
+** Port H pins are not supported by the MCU
+
+Quadrature Encode Timer Inputs
+------------------------------
+
+If enabled (by setting CONFIG_QENCODER=y), then quadrature encoder will
+user TIM2 (see nsh/defconfig) and input pins PA15, and PA1 for CH1 and
+CH2, respectively (see include board.h).
+
+STM32F4Discovery-specific Configuration Options
+===============================================

 	CONFIG_ARCH - Identifies the arch/ subdirectory.  This should
 	   be set to:
@ -231,7 +341,7 @@ stm32f4discovery-specific Configuration Options
 	CONFIG_ARCH_BOARD - Identifies the configs subdirectory and
 	   hence, the board that supports the particular chip or SoC.

-	   CONFIG_ARCH_BOARD=stm32f4discovery (for the stm32f4discovery development board)
+	   CONFIG_ARCH_BOARD=STM32F4Discovery (for the STM32F4Discovery development board)

 	CONFIG_ARCH_BOARD_name - For use in C code

@ -438,11 +548,11 @@ stm32f4discovery-specific Configuration Options
 Configurations
 ==============

-Each stm32f4discovery configuration is maintained in a sudirectory and
+Each STM32F4Discovery configuration is maintained in a sudirectory and
 can be selected as follow:

 	cd tools
-	./configure.sh stm32f4discovery/<subdir>
+	./configure.sh STM32F4Discovery/<subdir>
 	cd -
 	. ./setenv.sh

@ -461,13 +571,14 @@ Where <subdir> is one of the following:
    Configures the NuttShell (nsh) located at apps/examples/nsh.  The
    Configuration enables both the serial and telnet NSH interfaces.

-    CONFIG_STM32_CODESOURCERYL=y              : CodeSourcery under Linux / Mac OS X
+    CONFIG_STM32_CODESOURCERYL=y  : CodeSourcery under Linux / Mac OS X

    NOTES:
    1. This example supports the PWM test (apps/examples/pwm) but this must
       be manually enabled by selecting:

       CONFIG_PWM=y              : Enable the generic PWM infrastructure
+       CONFIG_STM32_TIM4=y       : Enable TIM4
       CONFIG_STM32_TIM4_PWM=y   : Use TIM4 to generate PWM output

       See also apps/examples/README.txt
@ -476,3 +587,15 @@ Where <subdir> is one of the following:

       CONFIG_DEBUG_PWM

+    1. This example supports the Quadrature Encode test (apps/examples/qencoder)
+       but this must be manually enabled by selecting:
+
+       CONFIG_QENCODER=y         : Enable the generic Quadrature Encoder infrastructure
+       CONFIG_STM32_TIM2=y       : Enable TIM2
+       CONFIG_STM32_TIM2_QE=y    : Use TIM2 as the quadrature encoder
+
+       See also apps/examples/README.txt
+
+       Special PWM-only debug options:
+
+       CONFIG_DEBUG_QENCODER
--- a/nuttx/configs/stm32f4discovery/include/board.h
+++ b/nuttx/configs/stm32f4discovery/include/board.h
@ -208,6 +208,7 @@
 *
 * The STM32F4 Discovery has no on-board serial devices, but the console is
 * brought out to PA2 (TX) and PA3 (RX) for connection to an external serial device.
+ * (See the README.txt file for other options)
 */

 #define GPIO_USART2_RX GPIO_USART2_RX_1
@ -227,6 +228,11 @@
 #define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
 #define GPIO_SPI1_SCK  GPIO_SPI1_SCK_1

+/* Timer Inputs/Outputs (see the README.txt file for options) */
+
+#define GPIO_TIM2_CH1IN  GPIO_TIM2_CH1IN_2
+#define GPIO_TIM2_CH2IN  GPIO_TIM2_CH2IN_1
+
 /************************************************************************************
 * Public Data
 ************************************************************************************/
--- a/nuttx/configs/stm32f4discovery/nsh/appconfig
+++ b/nuttx/configs/stm32f4discovery/nsh/appconfig
@ -51,3 +51,7 @@ endif
 ifeq ($(CONFIG_PWM),y)
 CONFIGURED_APPS += examples/pwm
 endif
+
+ifeq ($(CONFIG_QENCODER),y)
+CONFIGURED_APPS += examples/qencoder
+endif
--- a/nuttx/configs/stm32f4discovery/nsh/defconfig
+++ b/nuttx/configs/stm32f4discovery/nsh/defconfig
@ -1,7 +1,7 @@
 ############################################################################
 # configs/stm32f4discovery/nsh/defconfig
 #
-#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@ -313,18 +313,25 @@ CONFIG_STM32_PHYSR_FULLDUPLEX=0x0004
 CONFIG_STM32_ETH_PTP=n
 CONFIG_STM32_ETHMAC_REGDEBUG=n

-
 #
 # PWM configuration
 #
 # The stm32f4discovery has no real on-board PWM devices, but the board can be configured to output
-# a pulse train using TIM4 CH2.  
+# a pulse train using TIM4 CH2.  (Don't forget to set CONFIG_STM32_TIM4=y above)
 #
 CONFIG_PWM=n
-CONFIG_STM32_TIM4=y
 CONFIG_STM32_TIM4_PWM=y
 CONFIG_STM32_TIM4_CHANNEL=2

+#
+# Quadrature Encoder configuration.
+#
+# Uses TIM2 (CONFIG_STM32_TIM2=y above)
+# 
+#
+CONFIG_QENCODER=n
+CONFIG_STM32_TIM2_QE=y
+
 #
 # General build options
 #
@ -452,6 +459,7 @@ CONFIG_DEBUG_RTC=n
 CONFIG_DEBUG_ANALOG=n
 CONFIG_DEBUG_PWM=n
 CONFIG_DEBUG_CAN=n
+CONFIG_DEBUG_QENCODER=n
 CONFIG_HAVE_CXX=y
 CONFIG_MM_REGIONS=2
 CONFIG_ARCH_LOWPUTC=y
--- a/nuttx/configs/stm32f4discovery/src/Makefile
+++ b/nuttx/configs/stm32f4discovery/src/Makefile
@ -56,6 +56,10 @@ ifeq ($(CONFIG_PWM),y)
 CSRCS		+= up_pwm.c
 endif

+ifeq ($(CONFIG_QENCODER),y)
+CSRCS		+= up_qencoder.c
+endif
+
 COBJS		= $(CSRCS:.c=$(OBJEXT))

 SRCS		= $(ASRCS) $(CSRCS)
--- a/nuttx/configs/stm32f4discovery/src/stm32f4discovery-internal.h
+++ b/nuttx/configs/stm32f4discovery/src/stm32f4discovery-internal.h
@ -2,7 +2,7 @@
 * configs/stm3240g_eval/src/stm3240g_internal.h
 * arch/arm/src/board/stm3240g_internal.n
 *
- *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 *   Author: Gregory Nutt <gnutt@nuttx.org>
 *
 * Redistribution and use in source and binary forms, with or without
--- a/nuttx/configs/stm32f4discovery/src/up_autoleds.c
+++ b/nuttx/configs/stm32f4discovery/src/up_autoleds.c
@ -2,7 +2,7 @@
 * configs/stm3240g_eval/src/up_autoleds.c
 * arch/arm/src/board/up_autoleds.c
 *
- *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 *   Author: Gregory Nutt <gnutt@nuttx.org>
 *
 * Redistribution and use in source and binary forms, with or without
--- a/nuttx/configs/stm32f4discovery/src/up_buttons.c
+++ b/nuttx/configs/stm32f4discovery/src/up_buttons.c
@ -1,7 +1,7 @@
 /****************************************************************************
 * configs/stm32f4discovery/src/up_buttons.c
 *
- *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
 *   Author: Gregory Nutt <gnutt@nuttx.org>
 *
 * Redistribution and use in source and binary forms, with or without
--- a/nuttx/configs/stm32f4discovery/src/up_qencoder.c
+++ b/nuttx/configs/stm32f4discovery/src/up_qencoder.c
@ -0,0 +1,144 @@
+/************************************************************************************
+ * configs/stm32f4discovery/src/up_qencoder.c
+ * arch/arm/src/board/up_qencoder.c
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/sensors/qencoder.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "up_arch.h"
+#include "stm32_qencoder.h"
+#include "stm32f4discovery-internal.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+/* Configuration *******************************************************************/
+/* The following checks assum that the quadrature encoder is on TIM2.  Make the
+ * appropriate changes if your configuration differes.
+ */
+
+#define HAVE_QENCODER 1
+
+#ifndef CONFIG_QENCODER
+#  undef HAVE_QENCODER
+#endif
+
+#ifndef CONFIG_STM32_TIM2
+#  undef HAVE_QENCODER
+#endif
+
+#ifndef CONFIG_STM32_TIM2_QE
+#  undef HAVE_QENCODER
+#endif
+
+#ifdef HAVE_QENCODER
+
+/* Debug ***************************************************************************/
+/* Non-standard debug that may be enabled just for testing the quadrature encoder */
+
+#ifndef CONFIG_DEBUG
+#  undef CONFIG_DEBUG_QENCODER
+#endif
+
+#ifdef CONFIG_DEBUG_QENCODER
+#  define qedbg                 dbg
+#  define qelldbg               lldbg
+#  ifdef CONFIG_DEBUG_VERBOSE
+#    define qevdbg              vdbg
+#    define qellvdbg            llvdbg
+#  else
+#    define qelldbg(x...)
+#    define qellvdbg(x...)
+#  endif
+#else
+#  define qedbg(x...)
+#  define qelldbg(x...)
+#  define qevdbg(x...)
+#  define qellvdbg(x...)
+#endif
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: qe_devinit
+ *
+ * Description:
+ *   All STM32 architectures must provide the following interface to work with
+ *   examples/qencoder.
+ *
+ ************************************************************************************/
+
+int qe_devinit(void)
+{
+  static initialized = false;
+  int ret;
+
+  /* Check if we are already initialized */
+
+  if (!initialized)
+    {
+      /* Initialize a quadrature encoder interface. */
+
+      qevdbg("Initializing the quadrature encoder\n");
+      ret = stm32_qeinitialize("/dev/qe0", 2);
+      if (ret < 0)
+        {
+          qedbg("stm32_qeinitialize failed: %d\n", ret);
+          return ret;
+        }
+
+      initialized = true;
+    }
+
+  return OK;
+}
+
+#endif /* HAVE_QENCODER */
--- a/nuttx/drivers/sensors/qencoder.c
+++ b/nuttx/drivers/sensors/qencoder.c
@ -365,7 +365,13 @@ static int qe_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
 *   lower - An instance of the lower half interface
 *
 * Returned Value:
- *   Zero (OK) on success; a negated errno value on failure.
+ *   Zero (OK) on success; a negated errno value on failure.  The following
+ *   possible error values may be returned (most are returned by
+ *   register_driver()):
+ *
+ *   EINVAL - 'path' is invalid for this operation
+ *   EEXIST - An inode already exists at 'path'
+ *   ENOMEM - Failed to allocate in-memory resources for the operation
 *
 ****************************************************************************/

--- a/nuttx/fs/fs_inodereserve.c
+++ b/nuttx/fs/fs_inodereserve.c
@ -1,8 +1,8 @@
 /****************************************************************************
 * fs/fs_registerreserve.c
 *
- *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@ -39,6 +39,7 @@

 #include <nuttx/config.h>

+#include <assert.h>
 #include <errno.h>

 #include <nuttx/kmalloc.h>
@ -66,7 +67,7 @@
 * Name: inode_namelen
 ****************************************************************************/

-static int inode_namelen(const char *name)
+static int inode_namelen(FAR const char *name)
 {
  const char *tmp = name;
  while(*tmp && *tmp != '/') tmp++;
@ -87,7 +88,7 @@ static void inode_namecpy(char *dest, const char *src)
 * Name: inode_alloc
 ****************************************************************************/

-static FAR struct inode *inode_alloc(const char *name)
+static FAR struct inode *inode_alloc(FAR const char *name)
 {
  int namelen = inode_namelen(name);
  FAR struct inode *node = (FAR struct inode*)kzalloc(FSNODE_SIZE(namelen));
@ -142,27 +143,50 @@ static void inode_insert(FAR struct inode *node,
 /****************************************************************************
 * Name: inode_reserve
 *
- * NOTE: Caller must hold the inode semaphore
+ * Description:
+ *   Reserve an (initialized) inode the pseudo file system.
+ *
+ *   NOTE: Caller must hold the inode semaphore
+ *
+ * Input parameters:
+ *   path - The path to the inode to create
+ *   inode - The location to return the inode pointer
+ *
+ * Returned Value:
+ *   Zero on success (with the inode point in 'inode'); A negated errno
+ *   value is returned on failure:
+ *
+ *   EINVAL - 'path' is invalid for this operation
+ *   EEXIST - An inode already exists at 'path'
+ *   ENOMEM - Failed to allocate in-memory resources for the operation
+ *
 ****************************************************************************/

-FAR struct inode *inode_reserve(const char *path)
+int inode_reserve(FAR const char *path, FAR struct inode **inode)
 {
  const char       *name = path;
  FAR struct inode *left;
  FAR struct inode *parent;

+  /* Assume failure */
+
+  DEBUGASSERT(path && inode);
+  *inode = NULL;
+
+  /* Handle paths that are interpreted as the root directory */
+
  if (!*path || path[0] != '/')
    {
-      return NULL;
+      return -EINVAL;
    }

  /* Find the location to insert the new subtree */

-  if (inode_search(&name, &left, &parent, (const char **)NULL) != NULL)
+  if (inode_search(&name, &left, &parent, (FAR const char **)NULL) != NULL)
    {
-      /* Is is an error if the node already exists in the tree */
+      /* It is an error if the node already exists in the tree */

-      return NULL;
+      return -EEXIST;
    }

  /* Now we now where to insert the subtree */
@ -176,7 +200,7 @@ FAR struct inode *inode_reserve(const char *path)
       * by looking at the next name.
       */

-      const char *next_name = inode_nextname(name);
+      FAR const char *next_name = inode_nextname(name);
      if (*next_name)
        {
          /* Insert an operationless node */
@ -200,11 +224,13 @@ FAR struct inode *inode_reserve(const char *path)
          if (node)
            {
              inode_insert(node, left, parent);
-              return node;
+              *inode = node;
+              return OK;
            }
        }

      /* We get here on failures to allocate node memory */
-      return NULL;
+
+      return -ENOMEM;
    }
 }
--- a/nuttx/fs/fs_internal.h
+++ b/nuttx/fs/fs_internal.h
@ -1,8 +1,8 @@
 /****************************************************************************
 * fs/fs_internal.h
 *
- *   Copyright (C) 2007, 2009 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Copyright (C) 2007, 2009, 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@ -111,19 +111,19 @@ EXTERN FAR struct inode *inode_search(FAR const char **path,
                                      FAR struct inode **parent,
                                      FAR const char **relpath);
 EXTERN void inode_free(FAR struct inode *node);
-EXTERN const char *inode_nextname(const char *name);
+EXTERN const char *inode_nextname(FAR const char *name);

 /* fs_inodereserver.c ********************************************************/

-EXTERN FAR struct inode *inode_reserve(const char *path);
+EXTERN int inode_reserve(FAR const char *path, FAR struct inode **inode);

 /* fs_inoderemove.c **********************************************************/

-EXTERN int inode_remove(const char *path);
+EXTERN int inode_remove(FAR const char *path);

 /* fs_inodefind.c ************************************************************/

-EXTERN FAR struct inode *inode_find(const char *path, const char **relpath);
+EXTERN FAR struct inode *inode_find(FAR const char *path, const char **relpath);

 /* fs_inodeaddref.c **********************************************************/

--- a/nuttx/fs/fs_mount.c
+++ b/nuttx/fs/fs_mount.c
@ -1,8 +1,8 @@
 /****************************************************************************
 * fs/fs_mount.c
 *
- *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@ -193,9 +193,9 @@ mount_findfs(FAR const struct fsmap_t *fstab, FAR const char *filesystemtype)
 *
 ****************************************************************************/

-int mount(const char *source, const char *target,
-          const char *filesystemtype, unsigned long mountflags,
-          const void *data)
+int mount(FAR const char *source, FAR const char *target,
+          FAR const char *filesystemtype, unsigned long mountflags,
+          FAR const void *data)
 {
 #if defined(BDFS_SUPPORT) || defined(NONBDFS_SUPPORT)
 #ifdef BDFS_SUPPORT
@ -205,7 +205,7 @@ int mount(const char *source, const char *target,
  FAR const struct mountpt_operations *mops;
  void *fshandle;
  int errcode;
-  int status;
+  int ret;

  /* Verify required pointer arguments */

@ -222,11 +222,11 @@ int mount(const char *source, const char *target,

      /* Find the block driver */

-      status = find_blockdriver(source, mountflags, &blkdrvr_inode);
-      if (status < 0)
+      ret = find_blockdriver(source, mountflags, &blkdrvr_inode);
+      if (ret < 0)
        {
           fdbg("Failed to find block driver %s\n", source);
-           errcode = -status;
+           errcode = -ret;
           goto errout;
        }
    }
@ -244,20 +244,24 @@ int mount(const char *source, const char *target,
      goto errout;
    }

-   /* Insert a dummy node -- we need to hold the inode semaphore
+  /* Insert a dummy node -- we need to hold the inode semaphore
   * to do this because we will have a momentarily bad structure.
   */

  inode_semtake();
-  mountpt_inode = inode_reserve(target);
-  if (!mountpt_inode)
+  ret = inode_reserve(target, &mountpt_inode);
+  if (ret < 0)
    {
      /* inode_reserve can fail for a couple of reasons, but the most likely
-       * one is that the inode already exists.
+       * one is that the inode already exists. inode_reserve may return:
+       *
+       *  -EINVAL - 'path' is invalid for this operation
+       *  -EEXIST - An inode already exists at 'path'
+       *  -ENOMEM - Failed to allocate in-memory resources for the operation
       */

      fdbg("Failed to reserve inode\n");
-      errcode = EBUSY;
+      errcode = -ret;
      goto errout_with_semaphore;
    }

@ -289,18 +293,18 @@ int mount(const char *source, const char *target,
  /* On failure, the bind method returns -errorcode */

 #ifdef BDFS_SUPPORT
-  status = mops->bind(blkdrvr_inode, data, &fshandle);
+  ret = mops->bind(blkdrvr_inode, data, &fshandle);
 #else
-  status = mops->bind(NULL, data, &fshandle);
+  ret = mops->bind(NULL, data, &fshandle);
 #endif
-  if (status != 0)
+  if (ret != 0)
  {
      /* The inode is unhappy with the blkdrvr for some reason.  Back out
       * the count for the reference we failed to pass and exit with an
       * error.
       */

-      fdbg("Bind method failed: %d\n", status);
+      fdbg("Bind method failed: %d\n", ret);
 #ifdef BDFS_SUPPORT
 #ifdef NONBDFS_SUPPORT
      if (blkdrvr_inode)
@ -309,7 +313,7 @@ int mount(const char *source, const char *target,
          blkdrvr_inode->i_crefs--;
        }
 #endif
-      errcode = -status;
+      errcode = -ret;
      goto errout_with_mountpt;
  }

--- a/nuttx/fs/fs_registerblockdriver.c
+++ b/nuttx/fs/fs_registerblockdriver.c
@ -1,8 +1,8 @@
 /****************************************************************************
 * fs/fs_registerblockdriver.c
 *
- *   Copyright (C) 2007-2009 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Copyright (C) 2007-2009, 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@ -65,27 +65,45 @@

 /****************************************************************************
 * Name: register_driver
+ *
+ * Description:
+ *   Register a block driver inode the pseudo file system.
+ *
+ * Input parameters:
+ *   path - The path to the inode to create
+ *   bops - The block driver operations structure
+ *   mode - inmode priviledges (not used)
+ *   priv - Private, user data that will be associated with the inode.
+ *
+ * Returned Value:
+ *   Zero on success (with the inode point in 'inode'); A negated errno
+ *   value is returned on a failure (all error values returned by
+ *   inode_reserve):
+ *
+ *   EINVAL - 'path' is invalid for this operation
+ *   EEXIST - An inode already exists at 'path'
+ *   ENOMEM - Failed to allocate in-memory resources for the operation
+ *
 ****************************************************************************/

-int register_blockdriver(const char *path,
-                            const struct block_operations *bops,
-                            mode_t mode, void *priv)
+int register_blockdriver(FAR const char *path,
+                         FAR const struct block_operations *bops,
+                         mode_t mode, FAR void *priv)
 {
-  struct inode *node;
-  int ret = -ENOMEM;
+  FAR struct inode *node;
+  int ret;

-  /* Insert an inode for the device driver -- we need to hold the inode semaphore
-   * to prevent access to the tree while we this.  This is because we will have a
-   * momentarily bad true until we populate the inode with valid data.
+  /* Insert an inode for the device driver -- we need to hold the inode
+   * semaphore to prevent access to the tree while we this.  This is because
+   * we will have a momentarily bad true until we populate the inode with
+   * valid data.
   */

  inode_semtake();
-  node = inode_reserve(path);
-  if (node != NULL)
+  ret = inode_reserve(path, &node);
+  if (ret >= 0)
    {
-      /* We have it, now populate it with block driver specific
-       * information.
-       */
+      /* We have it, now populate it with block driver specific information. */

      INODE_SET_BLOCK(node);

--- a/nuttx/fs/fs_registerdriver.c
+++ b/nuttx/fs/fs_registerdriver.c
@ -1,8 +1,8 @@
 /****************************************************************************
 * fs/fs_registerdriver.c
 *
- *   Copyright (C) 2007-2009 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Copyright (C) 2007-2009, 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@ -65,34 +65,51 @@

 /****************************************************************************
 * Name: register_driver
+ *
+ * Description:
+ *   Register a character driver inode the pseudo file system.
+ *
+ * Input parameters:
+ *   path - The path to the inode to create
+ *   fops - The file operations structure
+ *   mode - inmode priviledges (not used)
+ *   priv - Private, user data that will be associated with the inode.
+ *
+ * Returned Value:
+ *   Zero on success (with the inode point in 'inode'); A negated errno
+ *   value is returned on a failure (all error values returned by
+ *   inode_reserve):
+ *
+ *   EINVAL - 'path' is invalid for this operation
+ *   EEXIST - An inode already exists at 'path'
+ *   ENOMEM - Failed to allocate in-memory resources for the operation
+ *
 ****************************************************************************/

-int register_driver(const char *path, const struct file_operations *fops,
-                       mode_t mode, void *priv)
+int register_driver(FAR const char *path, FAR const struct file_operations *fops,
+                    mode_t mode, FAR void *priv)
 {
-  struct inode *node;
-  int ret = ERROR;
+  FAR struct inode *node;
+  int ret;

-  /* Insert a dummy node -- we need to hold the inode semaphore
-   * to do this because we will have a momentarily bad structure.
+  /* Insert a dummy node -- we need to hold the inode semaphore because we
+   * will have a momentarily bad structure.
   */

  inode_semtake();
-  node = inode_reserve(path);
-  if (node != NULL)
+  ret = inode_reserve(path, &node);
+  if (ret >= 0)
    {
-        /* We have it, now populate it with driver specific
-         * information.
-         */
+      /* We have it, now populate it with driver specific information. */

-        INODE_SET_DRIVER(node);
+      INODE_SET_DRIVER(node);

-        node->u.i_ops   = fops;
+      node->u.i_ops   = fops;
 #ifdef CONFIG_FILE_MODE
-        node->i_mode    = mode;
+      node->i_mode    = mode;
 #endif
-        node->i_private = priv;
-        ret             = OK;
+      node->i_private = priv;
+      ret             = OK;
    }

  inode_semgive();