Add Current mode to HRTIM driver.

zephyr/modules/owntech_hrtim_driver/zephyr/CMakeLists.txt

@@ -7,6 +7,7 @@ if(CONFIG_OWNTECH_HRTIM_DRIVER)
   zephyr_library_sources(
     ./src/voltage_mode/hrtim_voltage_mode.c
     ./src/voltage_mode/owntech_leg_driver.cpp
+    ./src/current_mode/hrtim_current_mode.c
     ./src/hrtim_common.c
     )
 endif()

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

@@ -77,6 +77,7 @@ void hrtim_pwm_set(hrtim_t dev, hrtim_tu_t tu, uint16_t value, uint16_t shift);
 
 
 
+void hrtim_init_current();
 void hrtim_init_voltage();
 
 #ifdef __cplusplus

zephyr/modules/owntech_hrtim_driver/zephyr/src/current_mode/hrtim_current_mode.c

+/*
+ * Copyright (c) 2020-2021 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>
+ */
+
+
+// STM32 LL
+#include <stm32_ll_hrtim.h>
+#include <stm32_ll_gpio.h>
+#include <stm32_ll_bus.h>
+#include <stm32_ll_dmamux.h>
+
+
+void hrtim_cm_init()
+{
+	/* Peripheral clock enable */
+	LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_HRTIM1);
+
+	LL_HRTIM_ConfigDLLCalibration(HRTIM1, LL_HRTIM_DLLCALIBRATION_MODE_CONTINUOUS, LL_HRTIM_DLLCALIBRATION_RATE_3);
+
+	while(LL_HRTIM_IsActiveFlag_DLLRDY(HRTIM1) == RESET)
+	{
+		// Wait
+	}
+
+	LL_HRTIM_EE_SetPrescaler(HRTIM1, LL_HRTIM_EE_PRESCALER_DIV1);
+	LL_HRTIM_EE_SetSrc(HRTIM1, LL_HRTIM_EVENT_4, LL_HRTIM_EEV4SRC_COMP1_OUT);
+	LL_HRTIM_EE_SetPolarity(HRTIM1, LL_HRTIM_EVENT_4, LL_HRTIM_EE_POLARITY_HIGH);
+	LL_HRTIM_EE_SetSensitivity(HRTIM1, LL_HRTIM_EVENT_4, LL_HRTIM_EE_SENSITIVITY_LEVEL);
+	LL_HRTIM_EE_SetFastMode(HRTIM1, LL_HRTIM_EVENT_4, LL_HRTIM_EE_FASTMODE_DISABLE);
+	LL_HRTIM_EE_SetSrc(HRTIM1, LL_HRTIM_EVENT_5, LL_HRTIM_EEV5SRC_COMP3_OUT);
+	LL_HRTIM_EE_SetPolarity(HRTIM1, LL_HRTIM_EVENT_5, LL_HRTIM_EE_POLARITY_HIGH);
+	LL_HRTIM_EE_SetSensitivity(HRTIM1, LL_HRTIM_EVENT_5, LL_HRTIM_EE_SENSITIVITY_LEVEL);
+	LL_HRTIM_EE_SetFastMode(HRTIM1, LL_HRTIM_EVENT_5, LL_HRTIM_EE_FASTMODE_DISABLE);
+	LL_HRTIM_ConfigADCTrig(HRTIM1, LL_HRTIM_ADCTRIG_1, LL_HRTIM_ADCTRIG_UPDATE_MASTER, LL_HRTIM_ADCTRIG_SRC13_MCMP3);
+	LL_HRTIM_SetADCPostScaler(HRTIM1, LL_HRTIM_ADCTRIG_1, 0);
+	LL_HRTIM_TIM_SetPrescaler(HRTIM1, LL_HRTIM_TIMER_MASTER, LL_HRTIM_PRESCALERRATIO_MUL16);
+	LL_HRTIM_TIM_SetCounterMode(HRTIM1, LL_HRTIM_TIMER_MASTER, LL_HRTIM_MODE_CONTINUOUS);
+	LL_HRTIM_TIM_SetPeriod(HRTIM1, LL_HRTIM_TIMER_MASTER, 13600);
+	LL_HRTIM_TIM_SetRepetition(HRTIM1, LL_HRTIM_TIMER_MASTER, 0x00);
+	LL_HRTIM_TIM_DisableHalfMode(HRTIM1, LL_HRTIM_TIMER_MASTER);
+	LL_HRTIM_TIM_SetInterleavedMode(HRTIM1, LL_HRTIM_TIMER_MASTER, LL_HRTIM_INTERLEAVED_MODE_DISABLED);
+	LL_HRTIM_TIM_DisableStartOnSync(HRTIM1, LL_HRTIM_TIMER_MASTER);
+	LL_HRTIM_TIM_DisableResetOnSync(HRTIM1, LL_HRTIM_TIMER_MASTER);
+	LL_HRTIM_TIM_SetDACTrig(HRTIM1, LL_HRTIM_TIMER_MASTER, LL_HRTIM_DACTRIG_NONE);
+	LL_HRTIM_TIM_DisablePreload(HRTIM1, LL_HRTIM_TIMER_MASTER);
+	LL_HRTIM_TIM_SetUpdateGating(HRTIM1, LL_HRTIM_TIMER_MASTER, LL_HRTIM_UPDATEGATING_INDEPENDENT);
+	LL_HRTIM_TIM_SetUpdateTrig(HRTIM1, LL_HRTIM_TIMER_MASTER, LL_HRTIM_UPDATETRIG_NONE);
+	LL_HRTIM_TIM_SetBurstModeOption(HRTIM1, LL_HRTIM_TIMER_MASTER, LL_HRTIM_BURSTMODE_MAINTAINCLOCK);
+	LL_HRTIM_ForceUpdate(HRTIM1, LL_HRTIM_TIMER_MASTER);
+	LL_HRTIM_TIM_SetCompare1(HRTIM1, LL_HRTIM_TIMER_MASTER, 1360);
+	LL_HRTIM_TIM_SetCompare2(HRTIM1, LL_HRTIM_TIMER_MASTER, 6800);
+	LL_HRTIM_TIM_SetCompare3(HRTIM1, LL_HRTIM_TIMER_MASTER, 2700);
+
+	while(LL_HRTIM_IsActiveFlag_DLLRDY(HRTIM1) == RESET)
+	{
+		// Wait
+	}
+
+	LL_HRTIM_TIM_SetPrescaler(HRTIM1, LL_HRTIM_TIMER_A, LL_HRTIM_PRESCALERRATIO_MUL16);
+	LL_HRTIM_TIM_SetCounterMode(HRTIM1, LL_HRTIM_TIMER_A, LL_HRTIM_MODE_CONTINUOUS);
+	LL_HRTIM_TIM_SetPeriod(HRTIM1, LL_HRTIM_TIMER_A, 13600);
+	LL_HRTIM_TIM_SetRepetition(HRTIM1, LL_HRTIM_TIMER_A, 0x00);
+	LL_HRTIM_TIM_SetUpdateGating(HRTIM1, LL_HRTIM_TIMER_A, LL_HRTIM_UPDATEGATING_INDEPENDENT);
+	LL_HRTIM_TIM_SetCountingMode(HRTIM1, LL_HRTIM_TIMER_A, LL_HRTIM_COUNTING_MODE_UP);
+	LL_HRTIM_TIM_SetTriggeredHalfMode(HRTIM1, LL_HRTIM_TIMER_A, LL_HRTIM_TRIGHALF_DISABLED);
+	LL_HRTIM_TIM_SetComp1Mode(HRTIM1, LL_HRTIM_TIMER_A, LL_HRTIM_GTCMP1_EQUAL);
+	LL_HRTIM_TIM_SetComp3Mode(HRTIM1, LL_HRTIM_TIMER_A, LL_HRTIM_GTCMP3_EQUAL);
+	LL_HRTIM_TIM_SetDualDacResetTrigger(HRTIM1, LL_HRTIM_TIMER_A, LL_HRTIM_DCDR_COUNTER);
+	LL_HRTIM_TIM_SetDualDacStepTrigger(HRTIM1, LL_HRTIM_TIMER_A, LL_HRTIM_DCDS_CMP2);
+	LL_HRTIM_TIM_EnableDualDacTrigger(HRTIM1, LL_HRTIM_TIMER_A);
+	LL_HRTIM_TIM_SetDACTrig(HRTIM1, LL_HRTIM_TIMER_A, LL_HRTIM_DACTRIG_NONE);
+	LL_HRTIM_TIM_DisableHalfMode(HRTIM1, LL_HRTIM_TIMER_A);
+	LL_HRTIM_TIM_SetInterleavedMode(HRTIM1, LL_HRTIM_TIMER_A, LL_HRTIM_INTERLEAVED_MODE_DISABLED);
+	LL_HRTIM_TIM_DisableStartOnSync(HRTIM1, LL_HRTIM_TIMER_A);
+	LL_HRTIM_TIM_DisableResetOnSync(HRTIM1, LL_HRTIM_TIMER_A);
+	LL_HRTIM_TIM_DisablePreload(HRTIM1, LL_HRTIM_TIMER_A);
+	LL_HRTIM_TIM_DisableResyncUpdate(HRTIM1, LL_HRTIM_TIMER_A);
+	LL_HRTIM_TIM_SetUpdateTrig(HRTIM1, LL_HRTIM_TIMER_A, LL_HRTIM_UPDATETRIG_NONE|LL_HRTIM_UPDATETRIG_NONE);
+	LL_HRTIM_TIM_SetResetTrig(HRTIM1, LL_HRTIM_TIMER_A, LL_HRTIM_RESETTRIG_MASTER_PER);
+	LL_HRTIM_TIM_DisablePushPullMode(HRTIM1, LL_HRTIM_TIMER_A);
+	LL_HRTIM_TIM_EnableDeadTime(HRTIM1, LL_HRTIM_TIMER_A);
+	LL_HRTIM_TIM_SetBurstModeOption(HRTIM1, LL_HRTIM_TIMER_A, LL_HRTIM_BURSTMODE_MAINTAINCLOCK);
+	LL_HRTIM_ForceUpdate(HRTIM1, LL_HRTIM_TIMER_A);
+	LL_HRTIM_TIM_SetCompare1(HRTIM1, LL_HRTIM_TIMER_A, 544);
+	LL_HRTIM_TIM_SetCompareMode(HRTIM1, LL_HRTIM_TIMER_A, LL_HRTIM_COMPAREUNIT_2, LL_HRTIM_COMPAREMODE_REGULAR);
+	LL_HRTIM_TIM_SetCompare2(HRTIM1, LL_HRTIM_TIMER_A, 100);
+	LL_HRTIM_TIM_SetCompare3(HRTIM1, LL_HRTIM_TIMER_A, 1360);
+	LL_HRTIM_TIM_SetCompare4(HRTIM1, LL_HRTIM_TIMER_A, 10880);
+	LL_HRTIM_TIM_SetCompareMode(HRTIM1, LL_HRTIM_TIMER_A, LL_HRTIM_COMPAREUNIT_4, LL_HRTIM_COMPAREMODE_REGULAR);
+	LL_HRTIM_TIM_SetEventFilter(HRTIM1, LL_HRTIM_TIMER_A, LL_HRTIM_EVENT_4, LL_HRTIM_EEFLTR_BLANKINGCMP3);
+	LL_HRTIM_TIM_SetEventLatchStatus(HRTIM1, LL_HRTIM_TIMER_A, LL_HRTIM_EVENT_4, LL_HRTIM_EELATCH_DISABLED);
+	LL_HRTIM_DT_SetPrescaler(HRTIM1, LL_HRTIM_TIMER_A, LL_HRTIM_DT_PRESCALER_DIV1);
+	LL_HRTIM_DT_SetRisingValue(HRTIM1, LL_HRTIM_TIMER_A, 16);
+	LL_HRTIM_DT_SetRisingSign(HRTIM1, LL_HRTIM_TIMER_A, LL_HRTIM_DT_RISING_POSITIVE);
+	LL_HRTIM_DT_SetFallingValue(HRTIM1, LL_HRTIM_TIMER_A, 16);
+	LL_HRTIM_DT_SetFallingSign(HRTIM1, LL_HRTIM_TIMER_A, LL_HRTIM_DT_FALLING_POSITIVE);
+	LL_HRTIM_OUT_SetPolarity(HRTIM1, LL_HRTIM_OUTPUT_TA1, LL_HRTIM_OUT_POSITIVE_POLARITY);
+	LL_HRTIM_OUT_SetOutputSetSrc(HRTIM1, LL_HRTIM_OUTPUT_TA1, LL_HRTIM_OUTPUTSET_TIMCMP1);
+	LL_HRTIM_OUT_SetOutputResetSrc(HRTIM1, LL_HRTIM_OUTPUT_TA1, LL_HRTIM_OUTPUTRESET_TIMCMP4|LL_HRTIM_OUTPUTSET_EEV_5);
+	LL_HRTIM_OUT_SetIdleMode(HRTIM1, LL_HRTIM_OUTPUT_TA1, LL_HRTIM_OUT_NO_IDLE);
+	LL_HRTIM_OUT_SetIdleLevel(HRTIM1, LL_HRTIM_OUTPUT_TA1, LL_HRTIM_OUT_IDLELEVEL_INACTIVE);
+	LL_HRTIM_OUT_SetFaultState(HRTIM1, LL_HRTIM_OUTPUT_TA1, LL_HRTIM_OUT_FAULTSTATE_NO_ACTION);
+	LL_HRTIM_OUT_SetChopperMode(HRTIM1, LL_HRTIM_OUTPUT_TA1, LL_HRTIM_OUT_CHOPPERMODE_DISABLED);
+	LL_HRTIM_OUT_SetPolarity(HRTIM1, LL_HRTIM_OUTPUT_TA2, LL_HRTIM_OUT_POSITIVE_POLARITY);
+	LL_HRTIM_OUT_SetOutputSetSrc(HRTIM1, LL_HRTIM_OUTPUT_TA2, LL_HRTIM_OUTPUTSET_NONE);
+	LL_HRTIM_OUT_SetOutputResetSrc(HRTIM1, LL_HRTIM_OUTPUT_TA2, LL_HRTIM_OUTPUTRESET_NONE);
+	LL_HRTIM_OUT_SetIdleMode(HRTIM1, LL_HRTIM_OUTPUT_TA2, LL_HRTIM_OUT_NO_IDLE);
+	LL_HRTIM_OUT_SetIdleLevel(HRTIM1, LL_HRTIM_OUTPUT_TA2, LL_HRTIM_OUT_IDLELEVEL_INACTIVE);
+	LL_HRTIM_OUT_SetFaultState(HRTIM1, LL_HRTIM_OUTPUT_TA2, LL_HRTIM_OUT_FAULTSTATE_NO_ACTION);
+	LL_HRTIM_OUT_SetChopperMode(HRTIM1, LL_HRTIM_OUTPUT_TA2, LL_HRTIM_OUT_CHOPPERMODE_DISABLED);
+
+	while(LL_HRTIM_IsActiveFlag_DLLRDY(HRTIM1) == RESET)
+	{
+		// Wait
+	}
+
+	LL_HRTIM_TIM_SetPrescaler(HRTIM1, LL_HRTIM_TIMER_B, LL_HRTIM_PRESCALERRATIO_MUL16);
+	LL_HRTIM_TIM_SetCounterMode(HRTIM1, LL_HRTIM_TIMER_B, LL_HRTIM_MODE_CONTINUOUS);
+	LL_HRTIM_TIM_SetPeriod(HRTIM1, LL_HRTIM_TIMER_B, 13600);
+	LL_HRTIM_TIM_SetRepetition(HRTIM1, LL_HRTIM_TIMER_B, 0x00);
+	LL_HRTIM_TIM_SetUpdateGating(HRTIM1, LL_HRTIM_TIMER_B, LL_HRTIM_UPDATEGATING_INDEPENDENT);
+	LL_HRTIM_TIM_SetCountingMode(HRTIM1, LL_HRTIM_TIMER_B, LL_HRTIM_COUNTING_MODE_UP);
+	LL_HRTIM_TIM_SetTriggeredHalfMode(HRTIM1, LL_HRTIM_TIMER_B, LL_HRTIM_TRIGHALF_DISABLED);
+	LL_HRTIM_TIM_SetComp1Mode(HRTIM1, LL_HRTIM_TIMER_B, LL_HRTIM_GTCMP1_EQUAL);
+	LL_HRTIM_TIM_SetComp3Mode(HRTIM1, LL_HRTIM_TIMER_B, LL_HRTIM_GTCMP3_EQUAL);
+	LL_HRTIM_TIM_SetDualDacResetTrigger(HRTIM1, LL_HRTIM_TIMER_B, LL_HRTIM_DCDR_COUNTER);
+	LL_HRTIM_TIM_SetDualDacStepTrigger(HRTIM1, LL_HRTIM_TIMER_B, LL_HRTIM_DCDS_CMP2);
+	LL_HRTIM_TIM_EnableDualDacTrigger(HRTIM1, LL_HRTIM_TIMER_B);
+	LL_HRTIM_TIM_SetDACTrig(HRTIM1, LL_HRTIM_TIMER_B, LL_HRTIM_DACTRIG_NONE);
+	LL_HRTIM_TIM_DisableHalfMode(HRTIM1, LL_HRTIM_TIMER_B);
+	LL_HRTIM_TIM_SetInterleavedMode(HRTIM1, LL_HRTIM_TIMER_B, LL_HRTIM_INTERLEAVED_MODE_DISABLED);
+	LL_HRTIM_TIM_DisableStartOnSync(HRTIM1, LL_HRTIM_TIMER_B);
+	LL_HRTIM_TIM_DisableResetOnSync(HRTIM1, LL_HRTIM_TIMER_B);
+	LL_HRTIM_TIM_DisablePreload(HRTIM1, LL_HRTIM_TIMER_B);
+	LL_HRTIM_TIM_DisableResyncUpdate(HRTIM1, LL_HRTIM_TIMER_B);
+	LL_HRTIM_TIM_SetUpdateTrig(HRTIM1, LL_HRTIM_TIMER_B, LL_HRTIM_UPDATETRIG_NONE|LL_HRTIM_UPDATETRIG_NONE);
+	LL_HRTIM_TIM_SetResetTrig(HRTIM1, LL_HRTIM_TIMER_B, LL_HRTIM_RESETTRIG_MASTER_CMP2);
+	LL_HRTIM_TIM_DisablePushPullMode(HRTIM1, LL_HRTIM_TIMER_B);
+	LL_HRTIM_TIM_EnableDeadTime(HRTIM1, LL_HRTIM_TIMER_B);
+	LL_HRTIM_TIM_SetBurstModeOption(HRTIM1, LL_HRTIM_TIMER_B, LL_HRTIM_BURSTMODE_MAINTAINCLOCK);
+	LL_HRTIM_ForceUpdate(HRTIM1, LL_HRTIM_TIMER_B);
+	LL_HRTIM_TIM_SetCompare1(HRTIM1, LL_HRTIM_TIMER_B, 544);
+	LL_HRTIM_TIM_SetCompareMode(HRTIM1, LL_HRTIM_TIMER_B, LL_HRTIM_COMPAREUNIT_2, LL_HRTIM_COMPAREMODE_REGULAR);
+	LL_HRTIM_TIM_SetCompare2(HRTIM1, LL_HRTIM_TIMER_B, 100);
+	LL_HRTIM_TIM_SetCompare3(HRTIM1, LL_HRTIM_TIMER_B, 1360);
+	LL_HRTIM_TIM_SetCompare4(HRTIM1, LL_HRTIM_TIMER_B, 10880);
+	LL_HRTIM_TIM_SetCompareMode(HRTIM1, LL_HRTIM_TIMER_B, LL_HRTIM_COMPAREUNIT_4, LL_HRTIM_COMPAREMODE_REGULAR);
+	LL_HRTIM_TIM_SetEventFilter(HRTIM1, LL_HRTIM_TIMER_B, LL_HRTIM_EVENT_5, LL_HRTIM_EEFLTR_BLANKINGCMP3);
+	LL_HRTIM_TIM_SetEventLatchStatus(HRTIM1, LL_HRTIM_TIMER_B, LL_HRTIM_EVENT_5, LL_HRTIM_EELATCH_DISABLED);
+	LL_HRTIM_DT_SetPrescaler(HRTIM1, LL_HRTIM_TIMER_B, LL_HRTIM_DT_PRESCALER_DIV1);
+	LL_HRTIM_DT_SetRisingValue(HRTIM1, LL_HRTIM_TIMER_B, 16);
+	LL_HRTIM_DT_SetRisingSign(HRTIM1, LL_HRTIM_TIMER_B, LL_HRTIM_DT_RISING_POSITIVE);
+	LL_HRTIM_DT_SetFallingValue(HRTIM1, LL_HRTIM_TIMER_B, 16);
+	LL_HRTIM_DT_SetFallingSign(HRTIM1, LL_HRTIM_TIMER_B, LL_HRTIM_DT_FALLING_POSITIVE);
+	LL_HRTIM_OUT_SetPolarity(HRTIM1, LL_HRTIM_OUTPUT_TB1, LL_HRTIM_OUT_POSITIVE_POLARITY);
+	LL_HRTIM_OUT_SetOutputSetSrc(HRTIM1, LL_HRTIM_OUTPUT_TB1, LL_HRTIM_OUTPUTSET_TIMCMP1);
+	LL_HRTIM_OUT_SetOutputResetSrc(HRTIM1, LL_HRTIM_OUTPUT_TB1, LL_HRTIM_OUTPUTRESET_TIMCMP4|LL_HRTIM_OUTPUTRESET_EEV_4);
+	LL_HRTIM_OUT_SetIdleMode(HRTIM1, LL_HRTIM_OUTPUT_TB1, LL_HRTIM_OUT_NO_IDLE);
+	LL_HRTIM_OUT_SetIdleLevel(HRTIM1, LL_HRTIM_OUTPUT_TB1, LL_HRTIM_OUT_IDLELEVEL_INACTIVE);
+	LL_HRTIM_OUT_SetFaultState(HRTIM1, LL_HRTIM_OUTPUT_TB1, LL_HRTIM_OUT_FAULTSTATE_NO_ACTION);
+	LL_HRTIM_OUT_SetChopperMode(HRTIM1, LL_HRTIM_OUTPUT_TB1, LL_HRTIM_OUT_CHOPPERMODE_DISABLED);
+	LL_HRTIM_OUT_SetPolarity(HRTIM1, LL_HRTIM_OUTPUT_TB2, LL_HRTIM_OUT_POSITIVE_POLARITY);
+	LL_HRTIM_OUT_SetOutputSetSrc(HRTIM1, LL_HRTIM_OUTPUT_TB2, LL_HRTIM_OUTPUTSET_NONE);
+	LL_HRTIM_OUT_SetOutputResetSrc(HRTIM1, LL_HRTIM_OUTPUT_TB2, LL_HRTIM_OUTPUTRESET_NONE);
+	LL_HRTIM_OUT_SetIdleMode(HRTIM1, LL_HRTIM_OUTPUT_TB2, LL_HRTIM_OUT_NO_IDLE);
+	LL_HRTIM_OUT_SetIdleLevel(HRTIM1, LL_HRTIM_OUTPUT_TB2, LL_HRTIM_OUT_IDLELEVEL_INACTIVE);
+	LL_HRTIM_OUT_SetFaultState(HRTIM1, LL_HRTIM_OUTPUT_TB2, LL_HRTIM_OUT_FAULTSTATE_NO_ACTION);
+	LL_HRTIM_OUT_SetChopperMode(HRTIM1, LL_HRTIM_OUTPUT_TB2, LL_HRTIM_OUT_CHOPPERMODE_DISABLED);
+}
+
+void hrtim_cm_init_gpio()
+{
+	/*
+	HRTIM1 GPIO Configuration
+		PA8  ------> HRTIM1_CHA1
+		PA9  ------> HRTIM1_CHA2
+		PA10 ------> HRTIM1_CHB1
+		PA11 ------> HRTIM1_CHB2
+	*/
+	LL_AHB2_GRP1_EnableClock(LL_AHB2_GRP1_PERIPH_GPIOA);
+
+	LL_GPIO_SetPinMode      (GPIOA, LL_GPIO_PIN_8, LL_GPIO_MODE_ALTERNATE);
+	LL_GPIO_SetPinSpeed     (GPIOA, LL_GPIO_PIN_8, LL_GPIO_SPEED_FREQ_VERY_HIGH);
+	LL_GPIO_SetPinOutputType(GPIOA, LL_GPIO_PIN_8, LL_GPIO_OUTPUT_PUSHPULL);
+	LL_GPIO_SetPinPull      (GPIOA, LL_GPIO_PIN_8, LL_GPIO_PULL_NO);
+	LL_GPIO_SetAFPin_8_15   (GPIOA, LL_GPIO_PIN_8, LL_GPIO_AF_13);
+
+	LL_GPIO_SetPinMode      (GPIOA, LL_GPIO_PIN_9, LL_GPIO_MODE_ALTERNATE);
+	LL_GPIO_SetPinSpeed     (GPIOA, LL_GPIO_PIN_9, LL_GPIO_SPEED_FREQ_VERY_HIGH);
+	LL_GPIO_SetPinOutputType(GPIOA, LL_GPIO_PIN_9, LL_GPIO_OUTPUT_PUSHPULL);
+	LL_GPIO_SetPinPull      (GPIOA, LL_GPIO_PIN_9, LL_GPIO_PULL_NO);
+	LL_GPIO_SetAFPin_8_15   (GPIOA, LL_GPIO_PIN_9, LL_GPIO_AF_13);
+
+	LL_GPIO_SetPinMode      (GPIOA, LL_GPIO_PIN_10, LL_GPIO_MODE_ALTERNATE);
+	LL_GPIO_SetPinSpeed     (GPIOA, LL_GPIO_PIN_10, LL_GPIO_SPEED_FREQ_VERY_HIGH);
+	LL_GPIO_SetPinOutputType(GPIOA, LL_GPIO_PIN_10, LL_GPIO_OUTPUT_PUSHPULL);
+	LL_GPIO_SetPinPull      (GPIOA, LL_GPIO_PIN_10, LL_GPIO_PULL_NO);
+	LL_GPIO_SetAFPin_8_15   (GPIOA, LL_GPIO_PIN_10, LL_GPIO_AF_13);
+
+	LL_GPIO_SetPinMode      (GPIOA, LL_GPIO_PIN_11, LL_GPIO_MODE_ALTERNATE);
+	LL_GPIO_SetPinSpeed     (GPIOA, LL_GPIO_PIN_11, LL_GPIO_SPEED_FREQ_VERY_HIGH);
+	LL_GPIO_SetPinOutputType(GPIOA, LL_GPIO_PIN_11, LL_GPIO_OUTPUT_PUSHPULL);
+	LL_GPIO_SetPinPull      (GPIOA, LL_GPIO_PIN_11, LL_GPIO_PULL_NO);
+	LL_GPIO_SetAFPin_8_15   (GPIOA, LL_GPIO_PIN_11, LL_GPIO_AF_13);
+}
+
+void hrtim_cm_enable()
+{
+	/* Start Master Timer counter*/
+	LL_HRTIM_TIM_CounterEnable(HRTIM1, LL_HRTIM_TIMER_MASTER);
+
+	/* Start PWM output counter */
+	LL_HRTIM_TIM_CounterEnable(HRTIM1, LL_HRTIM_TIMER_A);
+
+	/* Start PWM output signal TA1 */
+	LL_HRTIM_EnableOutput(HRTIM1, LL_HRTIM_OUTPUT_TA1);
+
+	/* Start PWM output signal TA2 */
+	LL_HRTIM_EnableOutput(HRTIM1, LL_HRTIM_OUTPUT_TA2);
+
+	/* Start PWM output counter */
+	LL_HRTIM_TIM_CounterEnable(HRTIM1, LL_HRTIM_TIMER_B);
+
+	/* Start PWM output signal TB1 */
+	LL_HRTIM_EnableOutput(HRTIM1, LL_HRTIM_OUTPUT_TB1);
+
+	/* Start PWM output signal TB2 */
+	LL_HRTIM_EnableOutput(HRTIM1, LL_HRTIM_OUTPUT_TB2);
+}

zephyr/modules/owntech_hrtim_driver/zephyr/src/current_mode/hrtim_current_mode.h

+/*
+ * Copyright (c) 2020-2021 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_CURRENT_MODE_H_
+#define HRTIM_CURRENT_MODE_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void hrtim_cm_init();
+void hrtim_cm_init_gpio();
+void hrtim_cm_enable();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // HRTIM_CURRENT_MODE_H_

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

@@ -22,9 +22,17 @@
  */
 
 #include "voltage_mode/hrtim_voltage_mode.h"
+#include "current_mode/hrtim_current_mode.h"
 #include "leg.h"
 
 
+void hrtim_init_current()
+{
+	hrtim_cm_init();
+	hrtim_cm_init_gpio();
+	hrtim_cm_enable();
+}
+
 void hrtim_init_voltage()
 {
 	leg_init(true);