Reorganized Hrtim Module to prepare for two different modes.

Leg Module merged with Hrtim Module voltage mode.

zephyr/modules/owntech_hrtim_driver/zephyr/CMakeLists.txt

-
 if(CONFIG_OWNTECH_HRTIM_DRIVER)
-  zephyr_include_directories(.)
-
+  # Select directory to add to the include path
+  zephyr_include_directories(./public_include)
+  # Define the current folder as a Zephyr library
   zephyr_library()
+  # Select source files to be compiled
   zephyr_library_sources(
-    owntech_hrtim_driver.c
+    ./src/voltage_mode/hrtim_voltage_mode.c
+    ./src/voltage_mode/owntech_leg_driver.cpp
+    ./src/hrtim_common.c
     )
 endif()

zephyr/modules/owntech_hrtim_driver/zephyr/Kconfig

-
 config OWNTECH_HRTIM_DRIVER
-	bool "Enable OwnTech hrtim driver"
+	bool "Enable OwnTech High-resolution timer driver for STM32"
 	default y

zephyr/modules/owntech_hrtim_driver/zephyr/public_include/hrtim.h

+/*
+ * Copyright (c) 2021 LAAS-CNRS
+ *
+ *   This program is free software: you can redistribute it and/or modify
+ *   it under the terms of the GNU Lesser General Public License as published by
+ *   the Free Software Foundation, either version 2.1 of the License, or
+ *   (at your option) any later version.
+ *
+ *   This program is distributed in the hope that it will be useful,
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *   GNU Lesser General Public License for more details.
+ *
+ *   You should have received a copy of the GNU Lesser General Public License
+ *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ * SPDX-License-Identifier: LGLPV2.1
+ */
+
+/**
+ * @author Clément Foucher <clement.foucher@laas.fr>
+ */
+
+#ifndef HRTIM_H_
+#define HRTIM_H_
+
+
+#include <stdint.h>
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief   HRTIM have 5 or 6 timing units
+ */
+#ifdef HRTIM_MCR_TFCEN
+#define HRTIM_STU_NUMOF (6U)        /**< number of slave timing units */
+#else
+#define HRTIM_STU_NUMOF (5U)
+#endif
+
+/**
+ * @brief   Default HRTIM type definition
+ */
+#ifndef HAVE_HRTIM_T
+typedef unsigned int hrtim_t;
+#endif
+
+/**
+ * @brief   HRTIM timing units definition
+ */
+typedef enum {
+    TIMA,
+    TIMB,
+    TIMC,
+    TIMD,
+    TIME,
+#if (HRTIM_STU_NUMOF == 6)
+    TIMF,
+#endif
+    MSTR
+} hrtim_tu_t;
+
+
+/**
+ * @brief   Set the duty-cycle, dead-time and phase shift for a given
+ *          timing unit of a given HRTIM device
+ *
+ * @param[in] dev           HRTIM device
+ * @param[in] tu            Timing unit
+ * @param[in] value         Duty cycle
+ * @param[in] shift         Phase shifting
+ */
+void hrtim_pwm_set(hrtim_t dev, hrtim_tu_t tu, uint16_t value, uint16_t shift);
+
+
+
+void hrtim_init_voltage();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // HRTIM_H_

zephyr/modules/owntech_leg_driver/zephyr/leg.h → zephyr/modules/owntech_hrtim_driver/zephyr/public_include/leg.h

@@ -31,10 +31,13 @@
  * @author  Antoine Boche <antoine.boche@laas.fr>
  */
 
-#ifndef LEG_H
-#define LEG_H
+#ifndef LEG_H_
+#define LEG_H_
 
 #include <assert.h>
+#include <stdint.h>
+
+#include <zephyr.h>
 
 #include "hrtim.h"
 
@@ -114,5 +117,4 @@ uint16_t leg_get_freq(void);
 }
 #endif
 
-#endif /* LEG_H */
-/** @} */
+#endif // LEG_H_

zephyr/modules/owntech_hrtim_driver/zephyr/src/hrtim_common.c

+/*
+ * Copyright (c) 2021 LAAS-CNRS
+ *
+ *   This program is free software: you can redistribute it and/or modify
+ *   it under the terms of the GNU Lesser General Public License as published by
+ *   the Free Software Foundation, either version 2.1 of the License, or
+ *   (at your option) any later version.
+ *
+ *   This program is distributed in the hope that it will be useful,
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *   GNU Lesser General Public License for more details.
+ *
+ *   You should have received a copy of the GNU Lesser General Public License
+ *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ * SPDX-License-Identifier: LGLPV2.1
+ */
+
+/**
+ * @author Clément Foucher <clement.foucher@laas.fr>
+ */
+
+#include "voltage_mode/hrtim_voltage_mode.h"
+#include "leg.h"
+
+
+void hrtim_init_voltage()
+{
+	leg_init(true);
+	hrtim_adc_trigger_en(0, ADC1R, AD13_TAC3);
+	hrtim_cmp_set(0, TIMA, CMP3xR, 1);
+}

zephyr/modules/owntech_hrtim_driver/zephyr/owntech_hrtim_driver.c → zephyr/modules/owntech_hrtim_driver/zephyr/src/voltage_mode/hrtim_voltage_mode.c

@@ -29,7 +29,7 @@
  * @author      Antoine Boche <antoine.boche@laas.fr>
  */
 
-#include "hrtim.h"
+#include "hrtim_voltage_mode.h"
 #include "assert.h"
 
 static const struct soc_gpio_pinctrl tim_pinctrl[] = ST_STM32_DT_INST_PINCTRL(0, 0);

zephyr/modules/owntech_hrtim_driver/zephyr/hrtim.h → zephyr/modules/owntech_hrtim_driver/zephyr/src/voltage_mode/hrtim_voltage_mode.h

@@ -30,26 +30,20 @@
  * @author      Antoine Boche <antoine.boche@laas.fr>
  */
 
-#ifndef HRTIM_H
-#define HRTIM_H
+#ifndef HRTIM_VOLTAGE_MODE_H_
+#define HRTIM_VOLTAGE_MODE_H_
 
 #include <stdint.h>
 #include <limits.h>
 
 #include <pinmux/stm32/pinmux_stm32.h>
 
+#include <hrtim.h>
+
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-/**
- * @brief   HRTIM have 5 or 6 timing units
- */
-#ifdef HRTIM_MCR_TFCEN
-#define HRTIM_STU_NUMOF (6U)        /**< number of slave timing units */
-#else
-#define HRTIM_STU_NUMOF (5U)
-#endif
 
 #define DT_DRV_COMPAT hrtim
 #define CLOCK_APB2 (CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC / CONFIG_CLOCK_STM32_APB2_PRESCALER)
@@ -69,13 +63,6 @@ extern "C" {
 #define HRTIM_UNDEF           (UINT_MAX)
 #endif
 
-/**
- * @brief   Default HRTIM type definition
- */
-#ifndef HAVE_HRTIM_T
-typedef unsigned int hrtim_t;
-#endif
-
 /**
  * @brief   HRTIM Set/Reset trigger definition
  */
@@ -115,21 +102,6 @@ typedef enum {
                                     to active) */
 } hrtim_cb_t;
 
-/**
- * @brief   HRTIM timing units definition
- */
-typedef enum {
-    TIMA,
-    TIMB,
-    TIMC,
-    TIMD,
-    TIME,
-#if (HRTIM_STU_NUMOF == 6)
-    TIMF,
-#endif
-    MSTR
-} hrtim_tu_t;
-
 /**
  * @brief   HRTIM comparators definition
  */
@@ -370,17 +342,6 @@ typedef enum {
  */
 uint16_t hrtim_init(hrtim_t dev, uint32_t *freq, uint16_t dt, uint8_t switch_convention);
 
-/**
- * @brief   Set the duty-cycle, dead-time and phase shift for a given
- *          timing unit of a given HRTIM device
- *
- * @param[in] dev           HRTIM device
- * @param[in] tu            Timing unit
- * @param[in] value         Duty cycle
- * @param[in] shift         Phase shifting
- */
-void hrtim_pwm_set(hrtim_t dev, hrtim_tu_t tu, uint16_t value, uint16_t shift);
-
 /**
  * @brief   Initialize an HRTIM device master timer
  *
@@ -562,4 +523,4 @@ void hrtim_adc_trigger_dis(hrtim_t dev, hrtim_adc_t adc, hrtim_adc_trigger_t evt
 }
 #endif
 
-#endif /* HRTIM_H */
+#endif // HRTIM_VOLTAGE_MODE_H_

zephyr/modules/owntech_leg_driver/zephyr/owntech_leg_driver.c → zephyr/modules/owntech_hrtim_driver/zephyr/src/voltage_mode/owntech_leg_driver.cpp

@@ -28,6 +28,7 @@
 
 #include "leg.h"
 #include "owntech_leg_driver.h"
+#include "hrtim_voltage_mode.h"
 
 static uint16_t period, min_pw, max_pw, dead_time;
 
@@ -45,7 +46,7 @@ uint16_t leg_init(bool upper_switch_convention)
     uint32_t freq = LEG_FREQ;
 
     /* ensures that timing_unit can be used as leg identifier */
-    for (int i = 0; i < LEG_NUMOF; i++)
+    for (unsigned int i = 0; i < LEG_NUMOF; i++)
     {
         leg_conf[leg_config[i].timing_unit] = leg_config[i];
     }

zephyr/modules/owntech_leg_driver/zephyr/owntech_leg_driver.h → zephyr/modules/owntech_hrtim_driver/zephyr/src/voltage_mode/owntech_leg_driver.h

@@ -29,8 +29,8 @@
  * @note    This must only be included in owntech_leg_driver.c
  */
 
-#ifndef LEG_CONF_H_
-#define LEG_CONF_H_
+#ifndef OWNTECH_LEG_DRIVER_H_
+#define OWNTECH_LEG_DRIVER_H_
 
 /**
  * @brief   Inverter leg configuration
@@ -72,4 +72,4 @@ static leg_conf_t leg_config[] = {
 
 #define LEG_NUMOF           ARRAY_SIZE(leg_config)
 
-#endif /* LEG_CONF_H_ */
+#endif // OWNTECH_LEG_DRIVER_H_

zephyr/modules/owntech_leg_driver/zephyr/CMakeLists.txt

-
-if(CONFIG_OWNTECH_LEG_DRIVER)
-  zephyr_include_directories(.)
-
-  zephyr_library()
-  zephyr_library_sources(
-    owntech_leg_driver.c
-    )
-endif()

zephyr/modules/owntech_leg_driver/zephyr/Kconfig

-
-config OWNTECH_LEG_DRIVER
-	bool "Enable OwnTech leg driver"
-	default y

zephyr/modules/owntech_leg_driver/zephyr/module.yml

-name: owntech_leg_driver
-build:
-  cmake: zephyr
-  kconfig: zephyr/Kconfig

zephyr/prj.conf

@@ -42,7 +42,6 @@ CONFIG_ASSERT=y
 # OwnTech modules: uncomment a line to exclude a module
 #CONFIG_OWNTECH_TIMER_DRIVER=n
 #CONFIG_OWNTECH_HRTIM_DRIVER=n
-#CONFIG_OWNTECH_LEG_DRIVER=n
 #CONFIG_OWNTECH_NGND_DRIVER=n
 #CONFIG_OWNTECH_DATA_ACQUISITION=n
 #CONFIG_OWNTECH_VREFBUF_DRIVER=n