[stm32][nucleo-f072] add arduino support (#5650)

* [stm32][nucleo-f072] add arduino gpio support

* 完善stm32f401nucleo的基本配置

* 修改led引脚描述

* 潘多拉增加arduino引脚别名

* [ARDUINO]STM32L072RB 增加ADC A0-A5的引脚配置

* add pwm

22 files changed, 809 insertions, 109 deletions

diff --git a/bsp/stm32/stm32f072-st-nucleo/applications/SConscript b/bsp/stm32/stm32f072-st-nucleo/applications/SConscript
index 5efd37ed23..4e42a1f809 100644
--- a/bsp/stm32/stm32f072-st-nucleo/applications/SConscript
+++ b/bsp/stm32/stm32f072-st-nucleo/applications/SConscript
@@ -1,9 +1,15 @@
 from building import *
+import os
 
 cwd = GetCurrentDir()
-src = Glob('*.c') + Glob('*.cpp')
 CPPPATH = [cwd]
+src = ['main.c']
 
 group = DefineGroup('Applications', src, depend = [''], CPPPATH = CPPPATH)
 
+list = os.listdir(cwd)
+for item in list:
+    if os.path.isfile(os.path.join(cwd, item, 'SConscript')):
+        group = group + SConscript(os.path.join(item, 'SConscript'))
+
 Return('group')
diff --git a/bsp/stm32/stm32f072-st-nucleo/applications/arduino/SConscript b/bsp/stm32/stm32f072-st-nucleo/applications/arduino/SConscript
new file mode 100644
index 0000000000..cce015c7ea
--- /dev/null
+++ b/bsp/stm32/stm32f072-st-nucleo/applications/arduino/SConscript
@@ -0,0 +1,9 @@
+from building import *
+
+cwd = GetCurrentDir()
+src = Glob('*.c') + Glob('*.cpp')
+inc = [cwd]
+
+group = DefineGroup('Arduino', src, depend = ['RT_USING_ARDUINO'], CPPPATH = inc)
+
+Return('group')
diff --git a/bsp/stm32/stm32f072-st-nucleo/applications/arduino/pins_arduino.c b/bsp/stm32/stm32f072-st-nucleo/applications/arduino/pins_arduino.c
new file mode 100644
index 0000000000..580dc3c66e
--- /dev/null
+++ b/bsp/stm32/stm32f072-st-nucleo/applications/arduino/pins_arduino.c
@@ -0,0 +1,50 @@
+/*
+ * Copyright (c) 2006-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2021-12-10     Meco Man     first version
+ */
+#include <Arduino.h>
+#include <board.h>
+#include "pins_arduino.h"
+
+const pin_map_t pin_map_table[]=
+{
+    /*
+        {Arduino Pin, RT-Thread Pin [, Device Name(PWM or ADC), Channel]}
+        [] means optional
+        Digital pins must NOT give the device name and channel.
+        Analog pins MUST give the device name and channel(ADC or PWM).
+    */
+    {0, GET_PIN(A,3)},  /* D0, RX */
+    {1, GET_PIN(A,2)},  /* D1, TX */
+    {2, GET_PIN(A,10)}, /* D2 */
+    {3, GET_PIN(B,3), "pwm2", 2},   /* D3, PWM */
+    {4, GET_PIN(B,5)},  /* D4 */
+    {5, GET_PIN(B,4), "pwm3", 1},   /* D5, PWM */
+    {6, GET_PIN(B,10), "pwm2", 3},  /* D6, PWM */
+    {7, GET_PIN(A,8)},  /* D7 */
+    {8, GET_PIN(A,9)},  /* D8 */
+    {9, GET_PIN(C,7), "pwm3", 2},   /* D9, PWM */
+    {10, GET_PIN(B,6)}, /* D10 */
+    {11, GET_PIN(A,7)}, /* D11 */
+    {12, GET_PIN(A,6)}, /* D12 */
+    {13, GET_PIN(A,5)}, /* D13 */
+    {14, GET_PIN(B,9)}, /* D14 */
+    {15, GET_PIN(B,8)}, /* D15 */
+    {16, GET_PIN(A,0), "adc1", 0},  /* A0 */
+    {17, GET_PIN(A,1), "adc1", 1},  /* A1 */
+    {18, GET_PIN(A,4), "adc1", 4},  /* A2 */
+    {19, GET_PIN(B,0), "adc1", 8},  /* A3 */
+    {20, GET_PIN(C,1), "adc1", 11}, /* A4 */
+    {21, GET_PIN(C,0), "adc1", 10}  /* A5 */
+};
+
+/* initialization for BSP; maybe a blank function  */
+void initVariant(void)
+{
+    /* Nothing needs to initialize for this BSP */
+}
diff --git a/bsp/stm32/stm32f072-st-nucleo/applications/arduino/pins_arduino.h b/bsp/stm32/stm32f072-st-nucleo/applications/arduino/pins_arduino.h
new file mode 100644
index 0000000000..cd1051452e
--- /dev/null
+++ b/bsp/stm32/stm32f072-st-nucleo/applications/arduino/pins_arduino.h
@@ -0,0 +1,46 @@
+/*
+ * Copyright (c) 2006-2021, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2021-12-10     Meco Man     first version
+ */
+#ifndef Pins_Arduino_h
+#define Pins_Arduino_h
+
+#define LED_BUILTIN  13 /* Built-in LED */
+
+#define ARDUINO_PWM_HZ 500 /* Arduino UNO's PWM is around 500Hz */
+
+#define ARDUINO_PINOUT_ADC_MAX  6  /* Arduino UNO has 6 ADC pins */
+#define ARDUINO_PINOUT_PWM_MAX  5  /* Arduino UNO has 5 PWM pins */
+
+#define ARDUINO_DEFAULT_IIC_BUS_NAME "i2c4"
+
+/* pins alias */
+#define D0   (0)
+#define D1   (1)
+#define D2   (2)
+#define D3   (3)
+#define D4   (4)
+#define D5   (5)
+#define D6   (6)
+#define D7   (7)
+#define D8   (8)
+#define D9   (9)
+#define D10  (10)
+#define D11  (11)
+#define D12  (12)
+#define D13  (13)
+#define D14  (14)
+#define D15  (15)
+#define A0   (16)
+#define A1   (17)
+#define A2   (18)
+#define A3   (19)
+#define A4   (20)
+#define A5   (21)
+
+#endif /* Pins_Arduino_h */
diff --git a/bsp/stm32/stm32f072-st-nucleo/applications/main.c b/bsp/stm32/stm32f072-st-nucleo/applications/main.c
index 1d48ded64d..041c8db15b 100644
--- a/bsp/stm32/stm32f072-st-nucleo/applications/main.c
+++ b/bsp/stm32/stm32f072-st-nucleo/applications/main.c
@@ -12,7 +12,7 @@
 #include <rtdevice.h>
 #include <board.h>
 
-/* defined the LED2 pin: PA5 */
+/* defined the LED2 (user LED) pin: PA5 */
 #define LED2_PIN    GET_PIN(A, 5)
 
 int main(void)
diff --git a/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/.mxproject b/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/.mxproject
index 881c550bee..7a07e7c089 100644
--- a/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/.mxproject
+++ b/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/.mxproject
@@ -1,17 +1,17 @@
-[PreviousGenFiles]
-HeaderPath=F:/program/rt-thread/rt-thread/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Inc
-HeaderFiles=stm32f1xx_it.h;stm32f1xx_hal_conf.h;main.h;stm32f0xx_it.h;stm32f0xx_hal_conf.h;
-SourcePath=F:/program/rt-thread/rt-thread/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Src
-SourceFiles=stm32f1xx_it.c;stm32f1xx_hal_msp.c;main.c;stm32f0xx_it.c;stm32f0xx_hal_msp.c;
-
 [PreviousLibFiles]
-LibFiles=Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_tim.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_tim_ex.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart_ex.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_rcc.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_rcc_ex.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_def.h;Drivers/STM32F0xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_i2c.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_i2c_ex.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_gpio.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_gpio_ex.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_dma_ex.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_dma.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_cortex.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_pwr.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_pwr_ex.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_flash.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_flash_ex.h;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_tim.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_tim_ex.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_uart.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_uart_ex.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_rcc.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_rcc_ex.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_i2c.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_i2c_ex.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_gpio.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_dma.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_cortex.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_pwr.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_pwr_ex.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_flash.c;Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_flash_ex.c;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_tim.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_tim_ex.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_uart_ex.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_rcc.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_rcc_ex.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_def.h;Drivers/STM32F0xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_i2c.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_i2c_ex.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_gpio.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_gpio_ex.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_dma_ex.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_dma.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_cortex.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_pwr.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_pwr_ex.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_flash.h;Drivers/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_flash_ex.h;Drivers/CMSIS/Device/ST/STM32F0xx/Include/stm32f072xb.h;Drivers/CMSIS/Device/ST/STM32F0xx/Include/stm32f0xx.h;Drivers/CMSIS/Device/ST/STM32F0xx/Include/system_stm32f0xx.h;Drivers/CMSIS/Device/ST/STM32F0xx/Source/Templates/system_stm32f0xx.c;Drivers/CMSIS/Include/arm_common_tables.h;Drivers/CMSIS/Include/arm_const_structs.h;Drivers/CMSIS/Include/arm_math.h;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/cmsis_armcc_V6.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/core_cmFunc.h;Drivers/CMSIS/Include/core_cmInstr.h;Drivers/CMSIS/Include/core_cmSimd.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_sc300.h;
+LibFiles=Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_adc.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_adc_ex.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_rcc.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_rcc_ex.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_def.h;Drivers\STM32F0xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_i2c.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_i2c_ex.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_gpio.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_gpio_ex.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_dma_ex.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_dma.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_cortex.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_pwr.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_pwr_ex.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_flash.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_flash_ex.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_tim.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_tim_ex.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_uart.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_uart_ex.h;Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_adc.c;Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_adc_ex.c;Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_rcc.c;Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_rcc_ex.c;Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal.c;Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_i2c.c;Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_i2c_ex.c;Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_gpio.c;Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_dma.c;Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_cortex.c;Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_pwr.c;Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_pwr_ex.c;Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_flash.c;Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_flash_ex.c;Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_tim.c;Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_tim_ex.c;Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_uart.c;Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_uart_ex.c;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_adc.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_adc_ex.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_rcc.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_rcc_ex.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_def.h;Drivers\STM32F0xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_i2c.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_i2c_ex.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_gpio.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_gpio_ex.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_dma_ex.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_dma.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_cortex.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_pwr.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_pwr_ex.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_flash.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_flash_ex.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_tim.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_tim_ex.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_uart.h;Drivers\STM32F0xx_HAL_Driver\Inc\stm32f0xx_hal_uart_ex.h;Drivers\CMSIS\Device\ST\STM32F0xx\Include\stm32f072xb.h;Drivers\CMSIS\Device\ST\STM32F0xx\Include\stm32f0xx.h;Drivers\CMSIS\Device\ST\STM32F0xx\Include\system_stm32f0xx.h;Drivers\CMSIS\Device\ST\STM32F0xx\Source\Templates\system_stm32f0xx.c;Drivers\CMSIS\Include\arm_common_tables.h;Drivers\CMSIS\Include\arm_const_structs.h;Drivers\CMSIS\Include\arm_math.h;Drivers\CMSIS\Include\cmsis_armcc.h;Drivers\CMSIS\Include\cmsis_armcc_V6.h;Drivers\CMSIS\Include\cmsis_gcc.h;Drivers\CMSIS\Include\core_cm0.h;Drivers\CMSIS\Include\core_cm0plus.h;Drivers\CMSIS\Include\core_cm3.h;Drivers\CMSIS\Include\core_cm4.h;Drivers\CMSIS\Include\core_cm7.h;Drivers\CMSIS\Include\core_cmFunc.h;Drivers\CMSIS\Include\core_cmInstr.h;Drivers\CMSIS\Include\core_cmSimd.h;Drivers\CMSIS\Include\core_sc000.h;Drivers\CMSIS\Include\core_sc300.h;
 
 [PreviousUsedKeilFiles]
-SourceFiles=..\Src\main.c;..\Src\stm32f0xx_it.c;..\Src\stm32f0xx_hal_msp.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_tim.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_tim_ex.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_uart.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_uart_ex.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_rcc.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_rcc_ex.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_i2c.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_i2c_ex.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_gpio.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_dma.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_cortex.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_pwr.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_pwr_ex.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_flash.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_flash_ex.c;../\Src/system_stm32f0xx.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_tim.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_tim_ex.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_uart.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_uart_ex.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_rcc.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_rcc_ex.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_i2c.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_i2c_ex.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_gpio.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_dma.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_cortex.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_pwr.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_pwr_ex.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_flash.c;../Drivers/STM32F0xx_HAL_Driver/Src/stm32f0xx_hal_flash_ex.c;../\Src/system_stm32f0xx.c;../Drivers/CMSIS/Device/ST/STM32F0xx/Source/Templates/system_stm32f0xx.c;null;
+SourceFiles=..\Src\main.c;..\Src\stm32f0xx_it.c;..\Src\stm32f0xx_hal_msp.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_adc.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_adc_ex.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_rcc.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_rcc_ex.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_i2c.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_i2c_ex.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_gpio.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_dma.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_cortex.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_pwr.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_pwr_ex.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_flash.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_flash_ex.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_tim.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_tim_ex.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_uart.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_uart_ex.c;..\Drivers\CMSIS\Device\ST\STM32F0xx\Source\Templates\system_stm32f0xx.c;..\\Src\system_stm32f0xx.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_adc.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_adc_ex.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_rcc.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_rcc_ex.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_i2c.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_i2c_ex.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_gpio.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_dma.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_cortex.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_pwr.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_pwr_ex.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_flash.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_flash_ex.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_tim.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_tim_ex.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_uart.c;..\Drivers\STM32F0xx_HAL_Driver\Src\stm32f0xx_hal_uart_ex.c;..\Drivers\CMSIS\Device\ST\STM32F0xx\Source\Templates\system_stm32f0xx.c;..\\Src\system_stm32f0xx.c;;;
 HeaderPath=..\Drivers\STM32F0xx_HAL_Driver\Inc;..\Drivers\STM32F0xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F0xx\Include;..\Drivers\CMSIS\Include;..\Inc;
-CDefines=USE_HAL_DRIVER;STM32F072xB;
+CDefines=USE_HAL_DRIVER;STM32F072xB;USE_HAL_DRIVER;USE_HAL_DRIVER;
 
 []
 SourceFiles=;;
 
+[PreviousGenFiles]
+HeaderPath=..\Inc
+HeaderFiles=stm32f0xx_it.h;stm32f0xx_hal_conf.h;main.h;
+SourcePath=..\Src
+SourceFiles=stm32f0xx_it.c;stm32f0xx_hal_msp.c;main.c;
+
diff --git a/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/CubeMX_Config.ioc b/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/CubeMX_Config.ioc
index 1009ded5e2..b46bdd8932 100644
--- a/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/CubeMX_Config.ioc
+++ b/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/CubeMX_Config.ioc
@@ -1,36 +1,59 @@
 #MicroXplorer Configuration settings - do not modify
 File.Version=6
 KeepUserPlacement=true
+Mcu.CPN=STM32F072RBT6
 Mcu.Family=STM32F0
-Mcu.IP0=NVIC
-Mcu.IP1=RCC
-Mcu.IP2=SYS
-Mcu.IP3=USART2
-Mcu.IPNb=4
+Mcu.IP0=ADC
+Mcu.IP1=NVIC
+Mcu.IP2=RCC
+Mcu.IP3=SYS
+Mcu.IP4=TIM2
+Mcu.IP5=TIM3
+Mcu.IP6=USART2
+Mcu.IPNb=7
 Mcu.Name=STM32F072R(8-B)Tx
 Mcu.Package=LQFP64
 Mcu.Pin0=PC13
 Mcu.Pin1=PC14-OSC32_IN
-Mcu.Pin10=VP_SYS_VS_Systick
+Mcu.Pin10=PA3
+Mcu.Pin11=PA4
+Mcu.Pin12=PA5
+Mcu.Pin13=PB0
+Mcu.Pin14=PB10
+Mcu.Pin15=PC7
+Mcu.Pin16=PA13
+Mcu.Pin17=PA14
+Mcu.Pin18=PB3
+Mcu.Pin19=PB4
 Mcu.Pin2=PC15-OSC32_OUT
+Mcu.Pin20=VP_SYS_VS_Systick
+Mcu.Pin21=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin22=VP_TIM3_VS_ClockSourceINT
 Mcu.Pin3=PF0-OSC_IN
 Mcu.Pin4=PF1-OSC_OUT
-Mcu.Pin5=PA2
-Mcu.Pin6=PA3
-Mcu.Pin7=PA5
-Mcu.Pin8=PA13
-Mcu.Pin9=PA14
-Mcu.PinsNb=11
+Mcu.Pin5=PC0
+Mcu.Pin6=PC1
+Mcu.Pin7=PA0
+Mcu.Pin8=PA1
+Mcu.Pin9=PA2
+Mcu.PinsNb=23
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F072RBTx
 MxCube.Version=5.2.0
 MxDb.Version=DB.5.0.20
-NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
-NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false
-NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false
-NVIC.SVC_IRQn=true\:0\:0\:false\:false\:true\:false\:false
-NVIC.SysTick_IRQn=true\:0\:0\:true\:false\:true\:true\:true
+NVIC.ForceEnableDMAVector=true
+NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
+NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
+NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
+NVIC.SVC_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
+NVIC.SysTick_IRQn=true\:0\:0\:true\:false\:true\:true\:true\:true
+PA0.Locked=true
+PA0.Mode=IN0
+PA0.Signal=ADC_IN0
+PA1.Locked=true
+PA1.Mode=IN1
+PA1.Signal=ADC_IN1
 PA13.GPIOParameters=GPIO_Label
 PA13.GPIO_Label=TMS
 PA13.Locked=true
@@ -57,6 +80,9 @@ PA3.GPIO_Speed=GPIO_SPEED_FREQ_LOW
 PA3.Locked=true
 PA3.Mode=Asynchronous
 PA3.Signal=USART2_RX
+PA4.Locked=true
+PA4.Mode=IN4
+PA4.Signal=ADC_IN4
 PA5.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label,GPIO_Mode
 PA5.GPIO_Label=LD2 [Green Led]
 PA5.GPIO_Mode=GPIO_MODE_OUTPUT_PP
@@ -64,6 +90,21 @@ PA5.GPIO_PuPd=GPIO_NOPULL
 PA5.GPIO_Speed=GPIO_SPEED_FREQ_LOW
 PA5.Locked=true
 PA5.Signal=GPIO_Output
+PB0.Locked=true
+PB0.Mode=IN8
+PB0.Signal=ADC_IN8
+PB10.Locked=true
+PB10.Signal=S_TIM2_CH3
+PB3.Locked=true
+PB3.Signal=S_TIM2_CH2
+PB4.Locked=true
+PB4.Signal=S_TIM3_CH1
+PC0.Locked=true
+PC0.Mode=IN10
+PC0.Signal=ADC_IN10
+PC1.Locked=true
+PC1.Mode=IN11
+PC1.Signal=ADC_IN11
 PC13.GPIOParameters=GPIO_Label,GPIO_ModeDefaultEXTI
 PC13.GPIO_Label=B1 [Blue PushButton]
 PC13.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
@@ -75,14 +116,8 @@ PC14-OSC32_IN.Signal=RCC_OSC32_IN
 PC15-OSC32_OUT.Locked=true
 PC15-OSC32_OUT.Mode=LSE-External-Oscillator
 PC15-OSC32_OUT.Signal=RCC_OSC32_OUT
-PCC.Checker=false
-PCC.Line=STM32F0x2
-PCC.MCU=STM32F072R(8-B)Tx
-PCC.PartNumber=STM32F072RBTx
-PCC.Seq0=0
-PCC.Series=STM32F0
-PCC.Temperature=25
-PCC.Vdd=3.6
+PC7.Locked=true
+PC7.Signal=S_TIM3_CH2
 PF0-OSC_IN.Locked=true
 PF0-OSC_IN.Signal=RCC_OSC_IN
 PF1-OSC_OUT.Locked=true
@@ -110,11 +145,12 @@ ProjectManager.PreviousToolchain=
 ProjectManager.ProjectBuild=false
 ProjectManager.ProjectFileName=CubeMX_Config.ioc
 ProjectManager.ProjectName=CubeMX_Config
+ProjectManager.RegisterCallBack=
 ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=MDK-ARM V5
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_USART2_UART_Init-USART2-false-HAL-true
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_USART2_UART_Init-USART2-false-HAL-true,4-MX_ADC_Init-ADC-false-HAL-true,5-MX_TIM2_Init-TIM2-false-HAL-true,6-MX_TIM3_Init-TIM3-false-HAL-true
 RCC.AHBFreq_Value=48000000
 RCC.APB1Freq_Value=48000000
 RCC.APB1TimFreq_Value=48000000
@@ -139,10 +175,28 @@ RCC.USART1Freq_Value=48000000
 RCC.USART2Freq_Value=48000000
 SH.GPXTI13.0=GPIO_EXTI13
 SH.GPXTI13.ConfNb=1
+SH.S_TIM2_CH2.0=TIM2_CH2,PWM Generation2 CH2
+SH.S_TIM2_CH2.ConfNb=1
+SH.S_TIM2_CH3.0=TIM2_CH3,PWM Generation3 CH3
+SH.S_TIM2_CH3.ConfNb=1
+SH.S_TIM3_CH1.0=TIM3_CH1,PWM Generation1 CH1
+SH.S_TIM3_CH1.ConfNb=1
+SH.S_TIM3_CH2.0=TIM3_CH2,PWM Generation2 CH2
+SH.S_TIM3_CH2.ConfNb=1
+TIM2.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
+TIM2.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
+TIM2.IPParameters=Channel-PWM Generation3 CH3,Channel-PWM Generation2 CH2
+TIM3.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM3.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
+TIM3.IPParameters=Channel-PWM Generation2 CH2,Channel-PWM Generation1 CH1
 USART2.IPParameters=VirtualMode,VirtualMode-Asynchronous
 USART2.VirtualMode=VM_ASYNC
 USART2.VirtualMode-Asynchronous=VM_ASYNC
 VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick
+VP_TIM2_VS_ClockSourceINT.Mode=Internal
+VP_TIM2_VS_ClockSourceINT.Signal=TIM2_VS_ClockSourceINT
+VP_TIM3_VS_ClockSourceINT.Mode=Internal
+VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
 board=NUCLEO-F072RB
 boardIOC=true
diff --git a/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Inc/main.h b/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Inc/main.h
index 7f861cde0e..72dbd371f6 100644
--- a/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Inc/main.h
+++ b/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Inc/main.h
@@ -70,6 +70,8 @@ extern "C" {
 
 /* USER CODE END EM */
 
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
+
 /* Exported functions prototypes ---------------------------------------------*/
 void Error_Handler(void);
 
diff --git a/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Inc/stm32f0xx_hal_conf.h b/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Inc/stm32f0xx_hal_conf.h
index b03369da38..151ff3659e 100644
--- a/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Inc/stm32f0xx_hal_conf.h
+++ b/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Inc/stm32f0xx_hal_conf.h
@@ -5,7 +5,7 @@
   ******************************************************************************
   * @attention
   *
-  * <h2><center>&copy; COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
+  * <h2><center>&copy; COPYRIGHT(c) 2022 STMicroelectronics</center></h2>
   *
   * Redistribution and use in source and binary forms, with or without modification,
   * are permitted provided that the following conditions are met:
@@ -30,7 +30,7 @@
   * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   *
   ******************************************************************************
-  */ 
+  */
 
 /* Define to prevent recursive inclusion -------------------------------------*/
 #ifndef __STM32F0xx_HAL_CONF_H
@@ -45,10 +45,10 @@
 
 /* ########################## Module Selection ############################## */
 /**
-  * @brief This is the list of modules to be used in the HAL driver 
+  * @brief This is the list of modules to be used in the HAL driver
   */
-#define HAL_MODULE_ENABLED  
-/*#define HAL_ADC_MODULE_ENABLED   */
+#define HAL_MODULE_ENABLED
+#define HAL_ADC_MODULE_ENABLED
 /*#define HAL_CRYP_MODULE_ENABLED   */
 /*#define HAL_CAN_MODULE_ENABLED   */
 /*#define HAL_CEC_MODULE_ENABLED   */
@@ -64,7 +64,7 @@
 /*#define HAL_RNG_MODULE_ENABLED   */
 /*#define HAL_RTC_MODULE_ENABLED   */
 /*#define HAL_SPI_MODULE_ENABLED   */
-/*#define HAL_TIM_MODULE_ENABLED   */
+#define HAL_TIM_MODULE_ENABLED
 #define HAL_UART_MODULE_ENABLED
 /*#define HAL_USART_MODULE_ENABLED   */
 /*#define HAL_IRDA_MODULE_ENABLED   */
@@ -85,15 +85,15 @@
 /**
   * @brief Adjust the value of External High Speed oscillator (HSE) used in your application.
   *        This value is used by the RCC HAL module to compute the system frequency
-  *        (when HSE is used as system clock source, directly or through the PLL).  
+  *        (when HSE is used as system clock source, directly or through the PLL).
   */
-#if !defined  (HSE_VALUE) 
+#if !defined  (HSE_VALUE)
   #define HSE_VALUE    ((uint32_t)8000000) /*!< Value of the External oscillator in Hz */
 #endif /* HSE_VALUE */
 
 /**
-  * @brief In the following line adjust the External High Speed oscillator (HSE) Startup 
-  *        Timeout value 
+  * @brief In the following line adjust the External High Speed oscillator (HSE) Startup
+  *        Timeout value
   */
 #if !defined  (HSE_STARTUP_TIMEOUT)
   #define HSE_STARTUP_TIMEOUT    ((uint32_t)100)   /*!< Time out for HSE start up, in ms */
@@ -102,24 +102,24 @@
 /**
   * @brief Internal High Speed oscillator (HSI) value.
   *        This value is used by the RCC HAL module to compute the system frequency
-  *        (when HSI is used as system clock source, directly or through the PLL). 
+  *        (when HSI is used as system clock source, directly or through the PLL).
   */
 #if !defined  (HSI_VALUE)
   #define HSI_VALUE    ((uint32_t)8000000) /*!< Value of the Internal oscillator in Hz*/
 #endif /* HSI_VALUE */
 
 /**
-  * @brief In the following line adjust the Internal High Speed oscillator (HSI) Startup 
-  *        Timeout value 
+  * @brief In the following line adjust the Internal High Speed oscillator (HSI) Startup
+  *        Timeout value
   */
-#if !defined  (HSI_STARTUP_TIMEOUT) 
+#if !defined  (HSI_STARTUP_TIMEOUT)
  #define HSI_STARTUP_TIMEOUT   ((uint32_t)5000) /*!< Time out for HSI start up */
-#endif /* HSI_STARTUP_TIMEOUT */  
+#endif /* HSI_STARTUP_TIMEOUT */
 
 /**
   * @brief Internal High Speed oscillator for ADC (HSI14) value.
   */
-#if !defined  (HSI14_VALUE) 
+#if !defined  (HSI14_VALUE)
 #define HSI14_VALUE ((uint32_t)14000000) /*!< Value of the Internal High Speed oscillator for ADC in Hz.
                                              The real value may vary depending on the variations
                                              in voltage and temperature.  */
@@ -128,7 +128,7 @@
 /**
   * @brief Internal High Speed oscillator for USB (HSI48) value.
   */
-#if !defined  (HSI48_VALUE) 
+#if !defined  (HSI48_VALUE)
 #define HSI48_VALUE ((uint32_t)48000000) /*!< Value of the Internal High Speed oscillator for USB in Hz.
                                              The real value may vary depending on the variations
                                              in voltage and temperature.  */
@@ -137,8 +137,8 @@
 /**
   * @brief Internal Low Speed oscillator (LSI) value.
   */
-#if !defined  (LSI_VALUE) 
- #define LSI_VALUE  ((uint32_t)40000)    
+#if !defined  (LSI_VALUE)
+ #define LSI_VALUE  ((uint32_t)40000)
 #endif /* LSI_VALUE */                      /*!< Value of the Internal Low Speed oscillator in Hz
                                              The real value may vary depending on the variations
                                              in voltage and temperature.  */
@@ -147,7 +147,7 @@
   */
 #if !defined  (LSE_VALUE)
  #define LSE_VALUE  ((uint32_t)32768)    /*!< Value of the External Low Speed oscillator in Hz */
-#endif /* LSE_VALUE */     
+#endif /* LSE_VALUE */
 
 #if !defined  (LSE_STARTUP_TIMEOUT)
   #define LSE_STARTUP_TIMEOUT    ((uint32_t)5000)   /*!< Time out for LSE start up, in ms */
@@ -159,18 +159,18 @@
 /* ########################### System Configuration ######################### */
 /**
   * @brief This is the HAL system configuration section
-  */     
-#define  VDD_VALUE                    ((uint32_t)3300) /*!< Value of VDD in mv */           
-#define  TICK_INT_PRIORITY            ((uint32_t)0)    /*!< tick interrupt priority (lowest by default)  */            
+  */
+#define  VDD_VALUE                    ((uint32_t)3300) /*!< Value of VDD in mv */
+#define  TICK_INT_PRIORITY            ((uint32_t)0)    /*!< tick interrupt priority (lowest by default)  */
                                                                               /*  Warning: Must be set to higher priority for HAL_Delay()  */
                                                                               /*  and HAL_GetTick() usage under interrupt context          */
-#define  USE_RTOS                     0     
-#define  PREFETCH_ENABLE              1              
+#define  USE_RTOS                     0
+#define  PREFETCH_ENABLE              1
 #define  INSTRUCTION_CACHE_ENABLE     0
 #define  DATA_CACHE_ENABLE            0
 /* ########################## Assert Selection ############################## */
 /**
-  * @brief Uncomment the line below to expanse the "assert_param" macro in the 
+  * @brief Uncomment the line below to expanse the "assert_param" macro in the
   *        HAL drivers code
   */
 /* #define USE_FULL_ASSERT   1U */
@@ -186,7 +186,7 @@
 
 /* Includes ------------------------------------------------------------------*/
 /**
-  * @brief Include module's header file 
+  * @brief Include module's header file
   */
 
 #ifdef HAL_RCC_MODULE_ENABLED
@@ -303,7 +303,7 @@
   * @brief  The assert_param macro is used for function's parameters check.
   * @param  expr: If expr is false, it calls assert_failed function
   *         which reports the name of the source file and the source
-  *         line number of the call that failed. 
+  *         line number of the call that failed.
   *         If expr is true, it returns no value.
   * @retval None
   */
@@ -312,8 +312,8 @@
   void assert_failed(char* file, uint32_t line);
 #else
   #define assert_param(expr) ((void)0U)
-#endif /* USE_FULL_ASSERT */    
-    
+#endif /* USE_FULL_ASSERT */
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Inc/stm32f0xx_it.h b/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Inc/stm32f0xx_it.h
index 0c8cb46a8b..4bb625e9b2 100644
--- a/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Inc/stm32f0xx_it.h
+++ b/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Inc/stm32f0xx_it.h
@@ -39,7 +39,7 @@
 
 #ifdef __cplusplus
  extern "C" {
-#endif 
+#endif
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
diff --git a/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Src/main.c b/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Src/main.c
index 317997715b..47b5eeac9a 100644
--- a/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Src/main.c
+++ b/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Src/main.c
@@ -62,6 +62,11 @@
 /* USER CODE END PM */
 
 /* Private variables ---------------------------------------------------------*/
+ADC_HandleTypeDef hadc;
+
+TIM_HandleTypeDef htim2;
+TIM_HandleTypeDef htim3;
+
 UART_HandleTypeDef huart2;
 
 /* USER CODE BEGIN PV */
@@ -73,6 +78,9 @@ UART_HandleTypeDef huart2;
 void SystemClock_Config(void);
 static void MX_GPIO_Init(void);
 static void MX_USART2_UART_Init(void);
+static void MX_ADC_Init(void);
+static void MX_TIM2_Init(void);
+static void MX_TIM3_Init(void);
 /* USER CODE BEGIN PFP */
 /* Private function prototypes -----------------------------------------------*/
 
@@ -92,7 +100,6 @@ int main(void)
   /* USER CODE BEGIN 1 */
 
   /* USER CODE END 1 */
-  
 
   /* MCU Configuration--------------------------------------------------------*/
 
@@ -113,6 +120,9 @@ int main(void)
   /* Initialize all configured peripherals */
   MX_GPIO_Init();
   MX_USART2_UART_Init();
+  MX_ADC_Init();
+  MX_TIM2_Init();
+  MX_TIM3_Init();
   /* USER CODE BEGIN 2 */
 
   /* USER CODE END 2 */
@@ -138,16 +148,18 @@ void SystemClock_Config(void)
   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
   RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
 
-  /** Initializes the CPU, AHB and APB busses clocks 
+  /** Initializes the CPU, AHB and APB busses clocks
   */
-  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI48;
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI14|RCC_OSCILLATORTYPE_HSI48;
   RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
+  RCC_OscInitStruct.HSI14State = RCC_HSI14_ON;
+  RCC_OscInitStruct.HSI14CalibrationValue = 16;
   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
   {
     Error_Handler();
   }
-  /** Initializes the CPU, AHB and APB busses clocks 
+  /** Initializes the CPU, AHB and APB busses clocks
   */
   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                               |RCC_CLOCKTYPE_PCLK1;
@@ -168,6 +180,219 @@ void SystemClock_Config(void)
 }
 
 /**
+  * @brief ADC Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_ADC_Init(void)
+{
+
+  /* USER CODE BEGIN ADC_Init 0 */
+
+  /* USER CODE END ADC_Init 0 */
+
+  ADC_ChannelConfTypeDef sConfig = {0};
+
+  /* USER CODE BEGIN ADC_Init 1 */
+
+  /* USER CODE END ADC_Init 1 */
+  /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
+  */
+  hadc.Instance = ADC1;
+  hadc.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;
+  hadc.Init.Resolution = ADC_RESOLUTION_12B;
+  hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc.Init.ScanConvMode = ADC_SCAN_DIRECTION_FORWARD;
+  hadc.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
+  hadc.Init.LowPowerAutoWait = DISABLE;
+  hadc.Init.LowPowerAutoPowerOff = DISABLE;
+  hadc.Init.ContinuousConvMode = DISABLE;
+  hadc.Init.DiscontinuousConvMode = DISABLE;
+  hadc.Init.ExternalTrigConv = ADC_SOFTWARE_START;
+  hadc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
+  hadc.Init.DMAContinuousRequests = DISABLE;
+  hadc.Init.Overrun = ADC_OVR_DATA_PRESERVED;
+  if (HAL_ADC_Init(&hadc) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /** Configure for the selected ADC regular channel to be converted.
+  */
+  sConfig.Channel = ADC_CHANNEL_0;
+  sConfig.Rank = ADC_RANK_CHANNEL_NUMBER;
+  sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
+  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /** Configure for the selected ADC regular channel to be converted.
+  */
+  sConfig.Channel = ADC_CHANNEL_1;
+  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /** Configure for the selected ADC regular channel to be converted.
+  */
+  sConfig.Channel = ADC_CHANNEL_4;
+  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /** Configure for the selected ADC regular channel to be converted.
+  */
+  sConfig.Channel = ADC_CHANNEL_8;
+  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /** Configure for the selected ADC regular channel to be converted.
+  */
+  sConfig.Channel = ADC_CHANNEL_10;
+  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /** Configure for the selected ADC regular channel to be converted.
+  */
+  sConfig.Channel = ADC_CHANNEL_11;
+  if (HAL_ADC_ConfigChannel(&hadc, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN ADC_Init 2 */
+
+  /* USER CODE END ADC_Init 2 */
+
+}
+
+/**
+  * @brief TIM2 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM2_Init(void)
+{
+
+  /* USER CODE BEGIN TIM2_Init 0 */
+
+  /* USER CODE END TIM2_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM2_Init 1 */
+
+  /* USER CODE END TIM2_Init 1 */
+  htim2.Instance = TIM2;
+  htim2.Init.Prescaler = 0;
+  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim2.Init.Period = 0;
+  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM2_Init 2 */
+
+  /* USER CODE END TIM2_Init 2 */
+  HAL_TIM_MspPostInit(&htim2);
+
+}
+
+/**
+  * @brief TIM3 Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_TIM3_Init(void)
+{
+
+  /* USER CODE BEGIN TIM3_Init 0 */
+
+  /* USER CODE END TIM3_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM3_Init 1 */
+
+  /* USER CODE END TIM3_Init 1 */
+  htim3.Instance = TIM3;
+  htim3.Init.Prescaler = 0;
+  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim3.Init.Period = 0;
+  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM3_Init 2 */
+
+  /* USER CODE END TIM3_Init 2 */
+  HAL_TIM_MspPostInit(&htim3);
+
+}
+
+/**
   * @brief USART2 Initialization Function
   * @param None
   * @retval None
@@ -215,6 +440,7 @@ static void MX_GPIO_Init(void)
   __HAL_RCC_GPIOC_CLK_ENABLE();
   __HAL_RCC_GPIOF_CLK_ENABLE();
   __HAL_RCC_GPIOA_CLK_ENABLE();
+  __HAL_RCC_GPIOB_CLK_ENABLE();
 
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_RESET);
@@ -261,7 +487,7 @@ void Error_Handler(void)
   * @retval None
   */
 void assert_failed(char *file, uint32_t line)
-{ 
+{
   /* USER CODE BEGIN 6 */
   /* User can add his own implementation to report the file name and line number,
      tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
diff --git a/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Src/stm32f0xx_hal_msp.c b/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Src/stm32f0xx_hal_msp.c
index 7fd27fea17..7f1953cce7 100644
--- a/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Src/stm32f0xx_hal_msp.c
+++ b/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Src/stm32f0xx_hal_msp.c
@@ -78,7 +78,9 @@
 /* USER CODE BEGIN 0 */
 
 /* USER CODE END 0 */
-/**
+
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
+                                        /**
   * Initializes the Global MSP.
   */
 void HAL_MspInit(void)
@@ -98,6 +100,215 @@ void HAL_MspInit(void)
 }
 
 /**
+* @brief ADC MSP Initialization
+* This function configures the hardware resources used in this example
+* @param hadc: ADC handle pointer
+* @retval None
+*/
+void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(hadc->Instance==ADC1)
+  {
+  /* USER CODE BEGIN ADC1_MspInit 0 */
+
+  /* USER CODE END ADC1_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_ADC1_CLK_ENABLE();
+
+    __HAL_RCC_GPIOC_CLK_ENABLE();
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    /**ADC GPIO Configuration
+    PC0     ------> ADC_IN10
+    PC1     ------> ADC_IN11
+    PA0     ------> ADC_IN0
+    PA1     ------> ADC_IN1
+    PA4     ------> ADC_IN4
+    PB0     ------> ADC_IN8
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
+    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_4;
+    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = GPIO_PIN_0;
+    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN ADC1_MspInit 1 */
+
+  /* USER CODE END ADC1_MspInit 1 */
+  }
+
+}
+
+/**
+* @brief ADC MSP De-Initialization
+* This function freeze the hardware resources used in this example
+* @param hadc: ADC handle pointer
+* @retval None
+*/
+void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc)
+{
+  if(hadc->Instance==ADC1)
+  {
+  /* USER CODE BEGIN ADC1_MspDeInit 0 */
+
+  /* USER CODE END ADC1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_ADC1_CLK_DISABLE();
+
+    /**ADC GPIO Configuration
+    PC0     ------> ADC_IN10
+    PC1     ------> ADC_IN11
+    PA0     ------> ADC_IN0
+    PA1     ------> ADC_IN1
+    PA4     ------> ADC_IN4
+    PB0     ------> ADC_IN8
+    */
+    HAL_GPIO_DeInit(GPIOC, GPIO_PIN_0|GPIO_PIN_1);
+
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_4);
+
+    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_0);
+
+  /* USER CODE BEGIN ADC1_MspDeInit 1 */
+
+  /* USER CODE END ADC1_MspDeInit 1 */
+  }
+
+}
+
+/**
+* @brief TIM_Base MSP Initialization
+* This function configures the hardware resources used in this example
+* @param htim_base: TIM_Base handle pointer
+* @retval None
+*/
+void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
+{
+  if(htim_base->Instance==TIM2)
+  {
+  /* USER CODE BEGIN TIM2_MspInit 0 */
+
+  /* USER CODE END TIM2_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM2_CLK_ENABLE();
+  /* USER CODE BEGIN TIM2_MspInit 1 */
+
+  /* USER CODE END TIM2_MspInit 1 */
+  }
+  else if(htim_base->Instance==TIM3)
+  {
+  /* USER CODE BEGIN TIM3_MspInit 0 */
+
+  /* USER CODE END TIM3_MspInit 0 */
+    /* Peripheral clock enable */
+    __HAL_RCC_TIM3_CLK_ENABLE();
+  /* USER CODE BEGIN TIM3_MspInit 1 */
+
+  /* USER CODE END TIM3_MspInit 1 */
+  }
+
+}
+
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef* htim)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(htim->Instance==TIM2)
+  {
+  /* USER CODE BEGIN TIM2_MspPostInit 0 */
+
+  /* USER CODE END TIM2_MspPostInit 0 */
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    /**TIM2 GPIO Configuration
+    PB10     ------> TIM2_CH3
+    PB3     ------> TIM2_CH2
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_3;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF2_TIM2;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM2_MspPostInit 1 */
+
+  /* USER CODE END TIM2_MspPostInit 1 */
+  }
+  else if(htim->Instance==TIM3)
+  {
+  /* USER CODE BEGIN TIM3_MspPostInit 0 */
+
+  /* USER CODE END TIM3_MspPostInit 0 */
+
+    __HAL_RCC_GPIOC_CLK_ENABLE();
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    /**TIM3 GPIO Configuration
+    PC7     ------> TIM3_CH2
+    PB4     ------> TIM3_CH1
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_7;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF0_TIM3;
+    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = GPIO_PIN_4;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF1_TIM3;
+    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM3_MspPostInit 1 */
+
+  /* USER CODE END TIM3_MspPostInit 1 */
+  }
+
+}
+/**
+* @brief TIM_Base MSP De-Initialization
+* This function freeze the hardware resources used in this example
+* @param htim_base: TIM_Base handle pointer
+* @retval None
+*/
+void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base)
+{
+  if(htim_base->Instance==TIM2)
+  {
+  /* USER CODE BEGIN TIM2_MspDeInit 0 */
+
+  /* USER CODE END TIM2_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM2_CLK_DISABLE();
+  /* USER CODE BEGIN TIM2_MspDeInit 1 */
+
+  /* USER CODE END TIM2_MspDeInit 1 */
+  }
+  else if(htim_base->Instance==TIM3)
+  {
+  /* USER CODE BEGIN TIM3_MspDeInit 0 */
+
+  /* USER CODE END TIM3_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM3_CLK_DISABLE();
+  /* USER CODE BEGIN TIM3_MspDeInit 1 */
+
+  /* USER CODE END TIM3_MspDeInit 1 */
+  }
+
+}
+
+/**
 * @brief UART MSP Initialization
 * This function configures the hardware resources used in this example
 * @param huart: UART handle pointer
diff --git a/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Src/stm32f0xx_it.c b/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Src/stm32f0xx_it.c
index 9167d5e9be..45a5780317 100644
--- a/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Src/stm32f0xx_it.c
+++ b/bsp/stm32/stm32f072-st-nucleo/board/CubeMX_Config/Src/stm32f0xx_it.c
@@ -77,7 +77,7 @@
 /* USER CODE END EV */
 
 /******************************************************************************/
-/*           Cortex-M0 Processor Interruption and Exception Handlers          */ 
+/*           Cortex-M0 Processor Interruption and Exception Handlers          */
 /******************************************************************************/
 /**
   * @brief This function handles Non maskable interrupt.
diff --git a/bsp/stm32/stm32f072-st-nucleo/board/Kconfig b/bsp/stm32/stm32f072-st-nucleo/board/Kconfig
index d6b07e5bd3..bb8a44c42a 100644
--- a/bsp/stm32/stm32f072-st-nucleo/board/Kconfig
+++ b/bsp/stm32/stm32f072-st-nucleo/board/Kconfig
@@ -8,6 +8,27 @@ config SOC_STM32F072RB
     default y
 
 menu "Onboard Peripheral Drivers"
+    config BSP_USING_STLINK_TO_USART
+        bool "Enable STLINK TO USART (uart2)"
+        select BSP_USING_UART
+        select BSP_USING_UART2
+        default y
+
+    config BSP_USING_ARDUINO
+        bool "Support Arduino"
+        select RT_USING_ARDUINO
+        select RT_USING_PIN
+        select BSP_USING_ADC
+        select BSP_USING_ADC1
+        select BSP_USING_PWM
+        select BSP_USING_PWM2
+        select BSP_USING_PWM2_CH2
+        select BSP_USING_PWM2_CH3
+        select BSP_USING_PWM3
+        select BSP_USING_PWM3_CH1
+        select BSP_USING_PWM3_CH2
+        select BSP_USING_I2C
+        default n
 
 endmenu
 
@@ -34,13 +55,68 @@ menu "On-chip Peripheral Drivers"
 
             config BSP_USING_UART2
                 bool "Enable UART2"
-                default y
+                default n
 
             config BSP_UART2_RX_USING_DMA
                 bool "Enable UART2 RX DMA"
                 depends on BSP_USING_UART2 && RT_SERIAL_USING_DMA
                 default n
         endif
+
+    menuconfig BSP_USING_ADC
+        bool "Enable ADC"
+        default n
+        select RT_USING_ADC
+        if BSP_USING_ADC
+            config BSP_USING_ADC1
+                bool "Enable ADC1"
+                default n
+        endif
+
+    menuconfig BSP_USING_PWM
+        bool "Enable pwm"
+        default n
+        select RT_USING_PWM
+
+        if BSP_USING_PWM
+            menuconfig BSP_USING_PWM2
+                bool "Enable timer2 output pwm"
+                default n
+                if BSP_USING_PWM2
+                    config BSP_USING_PWM2_CH2
+                        bool "Enable PWM2 channel2"
+                        default n
+
+                    config BSP_USING_PWM2_CH3
+                        bool "Enable PWM2 channel3"
+                        default n
+                endif
+
+            menuconfig BSP_USING_PWM3
+                bool "Enable timer3 output pwm"
+                default n
+                if BSP_USING_PWM3
+                    config BSP_USING_PWM3_CH1
+                        bool "Enable PWM3 channel1"
+                        default n
+
+                    config BSP_USING_PWM3_CH2
+                        bool "Enable PWM3 channel2"
+                        default n
+                endif
+        endif
+
+    menuconfig BSP_USING_I2C
+        bool "Enable I2C BUS"
+        default n
+        select RT_USING_I2C
+        select RT_USING_I2C_BITOPS
+        select RT_USING_PIN
+
+        if BSP_USING_I2C
+
+        endif
+
     source "../libraries/HAL_Drivers/Kconfig"
     
 endmenu
diff --git a/bsp/stm32/stm32f072-st-nucleo/template.uvoptx b/bsp/stm32/stm32f072-st-nucleo/template.uvoptx
index accd4c51d6..956bb9aa16 100644
--- a/bsp/stm32/stm32f072-st-nucleo/template.uvoptx
+++ b/bsp/stm32/stm32f072-st-nucleo/template.uvoptx
@@ -130,7 +130,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>ST-LINKIII-KEIL_SWO</Key>
-          <Name>-U066DFF555355755087081621 -O206 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("") -D00(00000000) -L00(0) -TO18 -TC10000000 -TP21 -TDS8004 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F0xx_128 -FS08000000 -FL020000</Name>
+          <Name>-U0668FF544949878667154127 -O206 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP") -D00(0BB11477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8004 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F0xx_128_2K -FS08000000 -FL020000 -FP0($$Device:STM32F072RBTx$CMSIS\Flash\STM32F0xx_128_2K.FLM)</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
       <Breakpoint/>
@@ -178,7 +178,6 @@
       <pMultCmdsp></pMultCmdsp>
       <DebugDescription>
         <Enable>1</Enable>
-        <EnableFlashSeq>0</EnableFlashSeq>
         <EnableLog>0</EnableLog>
         <Protocol>2</Protocol>
         <DbgClock>10000000</DbgClock>
diff --git a/bsp/stm32/stm32f072-st-nucleo/template.uvprojx b/bsp/stm32/stm32f072-st-nucleo/template.uvprojx
index 23a8289b77..ae8df0f2f9 100644
--- a/bsp/stm32/stm32f072-st-nucleo/template.uvprojx
+++ b/bsp/stm32/stm32f072-st-nucleo/template.uvprojx
@@ -16,7 +16,7 @@
         <TargetCommonOption>
           <Device>STM32F072RBTx</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F0xx_DFP.2.0.0</PackID>
+          <PackID>Keil.STM32F0xx_DFP.2.1.1</PackID>
           <PackURL>http://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000,0x00004000) IROM(0x08000000,0x00020000) CPUTYPE("Cortex-M0") CLOCK(12000000) ELITTLE</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
@@ -184,7 +184,6 @@
             <hadXRAM>0</hadXRAM>
             <uocXRam>0</uocXRam>
             <RvdsVP>0</RvdsVP>
-            <RvdsMve>0</RvdsMve>
             <hadIRAM2>0</hadIRAM2>
             <hadIROM2>0</hadIROM2>
             <StupSel>8</StupSel>
diff --git a/bsp/stm32/stm32f401-st-nucleo/applications/SConscript b/bsp/stm32/stm32f401-st-nucleo/applications/SConscript
index 6f66f7ab73..53851f96d9 100644
--- a/bsp/stm32/stm32f401-st-nucleo/applications/SConscript
+++ b/bsp/stm32/stm32f401-st-nucleo/applications/SConscript
@@ -1,12 +1,15 @@
-import rtconfig
 from building import *
+import os
 
 cwd     = GetCurrentDir()
-CPPPATH = [cwd, str(Dir('#'))]
-src     = Split("""
-main.c
-""")
+CPPPATH = [cwd]
+src = ['main.c']
 
 group = DefineGroup('Applications', src, depend = [''], CPPPATH = CPPPATH)
 
+list = os.listdir(cwd)
+for item in list:
+    if os.path.isfile(os.path.join(cwd, item, 'SConscript')):
+        group = group + SConscript(os.path.join(item, 'SConscript'))
+
 Return('group')
diff --git a/bsp/stm32/stm32f401-st-nucleo/applications/main.c b/bsp/stm32/stm32f401-st-nucleo/applications/main.c
index d4200202ed..36a52e02a8 100644
--- a/bsp/stm32/stm32f401-st-nucleo/applications/main.c
+++ b/bsp/stm32/stm32f401-st-nucleo/applications/main.c
@@ -12,19 +12,19 @@
 #include <rtdevice.h>
 #include <board.h>
 
-/* defined the LED0 pin: PB1 */
-#define LED0_PIN    GET_PIN(A, 5)
+/* defined the LD2 (user LED) pin: PB1 */
+#define LED2_PIN    GET_PIN(A, 5)
 
 int main(void)
 {
     /* set LED0 pin mode to output */
-    rt_pin_mode(LED0_PIN, PIN_MODE_OUTPUT);
+    rt_pin_mode(LED2_PIN, PIN_MODE_OUTPUT);
 
     while (1)
     {
-        rt_pin_write(LED0_PIN, PIN_HIGH);
+        rt_pin_write(LED2_PIN, PIN_HIGH);
         rt_thread_mdelay(500);
-        rt_pin_write(LED0_PIN, PIN_LOW);
+        rt_pin_write(LED2_PIN, PIN_LOW);
         rt_thread_mdelay(500);
     }
 }
diff --git a/bsp/stm32/stm32f401-st-nucleo/board/Kconfig b/bsp/stm32/stm32f401-st-nucleo/board/Kconfig
index 829353eb19..8e9c891fd6 100644
--- a/bsp/stm32/stm32f401-st-nucleo/board/Kconfig
+++ b/bsp/stm32/stm32f401-st-nucleo/board/Kconfig
@@ -8,6 +8,11 @@ config SOC_STM32F401RE
     default y
 
 menu "Onboard Peripheral Drivers"
+    config BSP_USING_STLINK_TO_USART
+        bool "Enable STLINK TO USART (uart2)"
+        select BSP_USING_UART
+        select BSP_USING_UART2
+        default y
 
 endmenu
 
@@ -20,12 +25,12 @@ menu "On-chip Peripheral Drivers"
 
     menuconfig BSP_USING_UART
         bool "Enable UART"
-        default y
+        default n
         select RT_USING_SERIAL
         if BSP_USING_UART
             config BSP_USING_UART2
                 bool "Enable UART2"
-                default y
+                default n
 
             config BSP_UART2_RX_USING_DMA
                 bool "Enable UART2 RX DMA"
diff --git a/bsp/stm32/stm32l475-atk-pandora/applications/arduino/pins_arduino.c b/bsp/stm32/stm32l475-atk-pandora/applications/arduino/pins_arduino.c
index 38c08af4f3..bc7e592169 100644
--- a/bsp/stm32/stm32l475-atk-pandora/applications/arduino/pins_arduino.c
+++ b/bsp/stm32/stm32l475-atk-pandora/applications/arduino/pins_arduino.c
@@ -11,7 +11,7 @@
 #include <board.h>
 #include "pins_arduino.h"
 
-const pin_map_t pin_map_table[ARDUINO_PINOUT_PIN_MAX]=
+const pin_map_t pin_map_table[]=
 {
     /*
         {Arduino Pin, RT-Thread Pin [, Device Name(PWM or ADC), Channel]}
@@ -34,11 +34,11 @@ const pin_map_t pin_map_table[ARDUINO_PINOUT_PIN_MAX]=
     {12, GET_PIN(B,2)}, /* D12, BSP: BEEP */
     {13, GET_PIN(E,8)}, /* D13, LED_BUILTIN, BSP: GREEN-LED */
     {14, GET_PIN(C,2), "adc1", 3}, /* D14, A0 */
-    {15}, /* D15, A1 */
-    {16}, /* D16, A2 */
-    {17}, /* D17, A3 */
-    {18}, /* D18, A4 */
-    {19} /* D19, A5 */
+    {15}, /* A1 */
+    {16}, /* A2 */
+    {17}, /* A3 */
+    {18}, /* A4 */
+    {19} /*  A5 */
 };
 
 /* initialization for BSP; maybe a blank function  */
diff --git a/bsp/stm32/stm32l475-atk-pandora/applications/arduino/pins_arduino.h b/bsp/stm32/stm32l475-atk-pandora/applications/arduino/pins_arduino.h
index c0e7fffed1..160ec6d91f 100644
--- a/bsp/stm32/stm32l475-atk-pandora/applications/arduino/pins_arduino.h
+++ b/bsp/stm32/stm32l475-atk-pandora/applications/arduino/pins_arduino.h
@@ -14,12 +14,25 @@
 
 #define ARDUINO_PWM_HZ 500 /* Arduino UNO's PWM is around 500Hz */
 
-#define ARDUINO_PINOUT_PIN_MAX  20 /* Arduino UNO has 20 pins in total*/
 #define ARDUINO_PINOUT_ADC_MAX  6  /* Arduino UNO has 6 ADC pins */
 #define ARDUINO_PINOUT_PWM_MAX  5  /* Arduino UNO has 5 PWM pins */
 
 #define ARDUINO_DEFAULT_IIC_BUS_NAME "i2c4"
 
+#define D0   (0)
+#define D1   (1)
+#define D2   (2)
+#define D3   (3)
+#define D4   (4)
+#define D5   (5)
+#define D6   (6)
+#define D7   (7)
+#define D8   (8)
+#define D9   (9)
+#define D10  (10)
+#define D11  (11)
+#define D12  (12)
+#define D13  (13)
 #define A0   (14)
 #define A1   (15)
 #define A2   (16)
diff --git a/bsp/stm32/stm32l475-atk-pandora/board/CubeMX_Config/STM32L475VE.ioc b/bsp/stm32/stm32l475-atk-pandora/board/CubeMX_Config/STM32L475VE.ioc
index f9229d26f0..f0b84cbad4 100644
--- a/bsp/stm32/stm32l475-atk-pandora/board/CubeMX_Config/STM32L475VE.ioc
+++ b/bsp/stm32/stm32l475-atk-pandora/board/CubeMX_Config/STM32L475VE.ioc
@@ -8,6 +8,7 @@ ADC1.SamplingTime-15\#ChannelRegularConversion=ADC_SAMPLETIME_2CYCLES_5
 ADC1.master=1
 File.Version=6
 KeepUserPlacement=false
+Mcu.CPN=STM32L475VET6
 Mcu.Family=STM32L4
 Mcu.IP0=ADC1
 Mcu.IP1=DAC1
@@ -98,18 +99,18 @@ Mcu.UserConstants=
 Mcu.UserName=STM32L475VETx
 MxCube.Version=6.4.0
 MxDb.Version=DB.6.0.40
-NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
-NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
+NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
 NVIC.ForceEnableDMAVector=true
-NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
-NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false
-NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false
-NVIC.OTG_FS_IRQn=true\:0\:0\:false\:false\:true\:true\:true
-NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
+NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
+NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
+NVIC.OTG_FS_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
+NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
-NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false
-NVIC.SysTick_IRQn=true\:0\:0\:false\:false\:true\:false\:true
-NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
+NVIC.SysTick_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
+NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
 PA10.GPIOParameters=GPIO_PuPd
 PA10.GPIO_PuPd=GPIO_PULLUP
 PA10.Mode=Asynchronous