diff --git a/src/owntech.ini b/src/owntech.ini
index 2ccf8005e8e6ac6e696a3c4beba28373ce64eb3d..be363f0523c68215a358ec7e485e1391ab664be7 100644
--- a/src/owntech.ini
+++ b/src/owntech.ini
@@ -10,6 +10,7 @@
[env]
lib_deps=
-# quick_start=https://gitlab.laas.fr/owntech/power-api/opalib-quick-start.git
-# pid_voltage=https://gitlab.laas.fr/owntech/power-api/opalib-pid.git
-# pid_current=https://gitlab.laas.fr/owntech/power-api/opalib-pid-current-mode.git
+ peripherals = https://gitlab.laas.fr/owntech/power-api/opalib-peripherals.git
+ control_pid = https://gitlab.laas.fr/owntech/power-api/opalib-control-pid.git
+ power_conversion = https://gitlab.laas.fr/owntech/power-api/opalib-power-conversion.git
+ data_conversion = https://gitlab.laas.fr/owntech/power-api/opalib-data-conversion.git
diff --git a/zephyr/modules/owntech_hrtim_driver/zephyr/public_include/hrtim.h b/zephyr/modules/owntech_hrtim_driver/zephyr/public_include/hrtim.h
index 49a8317326e5010130f406321458d2a0817fafbf..73d144ad137c70e7a535ed254651e7d54b453d5f 100644
--- a/zephyr/modules/owntech_hrtim_driver/zephyr/public_include/hrtim.h
+++ b/zephyr/modules/owntech_hrtim_driver/zephyr/public_include/hrtim.h
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2021 LAAS-CNRS
+ * Copyright (c) 2021-2022 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
@@ -19,6 +19,7 @@
/**
* @author Clément Foucher <clement.foucher@laas.fr>
+ * @author Luiz Villa <luiz.villa@laas.fr>
*/
#ifndef HRTIM_H_
@@ -78,7 +79,12 @@ 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();
+void hrtim_init_voltage_buck();
+void hrtim_init_voltage_boost();
+void hrtim_init_voltage_leg1_buck_leg2_boost();
+void hrtim_init_voltage_leg1_boost_leg2_buck();
+
+
#ifdef __cplusplus
}
diff --git a/zephyr/modules/owntech_hrtim_driver/zephyr/public_include/leg.h b/zephyr/modules/owntech_hrtim_driver/zephyr/public_include/leg.h
index 05b19b9631da588beaf84f9981a797eea4c9e6db..efa480e7f0c4b790e0c7862f28bc4c6911bfaa5b 100644
--- a/zephyr/modules/owntech_hrtim_driver/zephyr/public_include/leg.h
+++ b/zephyr/modules/owntech_hrtim_driver/zephyr/public_include/leg.h
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2020 LAAS-CNRS
+ * Copyright (c) 2020-2022 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
@@ -23,12 +23,12 @@
* @ingroup owntech_modules
* @brief OwnTech PWM management layer by inverter leg
*
- * @{
* @file
* @brief PWM management layer by inverter leg interface definitions
- * @date 2020
+ * @date 2022
* @author Hugues Larrive <hugues.larrive@laas.fr>
* @author Antoine Boche <antoine.boche@laas.fr>
+ * @author Luiz Villa <luiz.villa@laas.fr>
*/
#ifndef LEG_H_
@@ -61,11 +61,12 @@ typedef struct {
/**
* @brief Initializes all the configured devices with the chosen switch convention
*
- * @param[in] upper_switch_convention Choice of the switch convention
+ * @param[in] leg1_upper_switch_convention Choice of the switch convention for leg 1
+ * @param[in] leg2_upper_switch_convention Choice of the switch convention for leg 2
*
* @return HRTIM period
*/
-uint16_t leg_init(bool upper_switch_convention);
+uint16_t leg_init(bool leg1_upper_switch_convention, bool leg2_upper_switch_convention);
/**
* @brief Set the PWM pulse width for a given leg device
@@ -83,6 +84,13 @@ void leg_set(hrtim_tu_t timing_unit, uint16_t pulse_width, uint16_t phase_shift)
*/
void leg_stop(hrtim_tu_t timing_unit);
+/**
+ * @brief Start the leg (its 2 outputs goes low)
+ *
+ * @param[in] timing_unit timing_unit from TIMA to TIMF
+ */
+void leg_start(hrtim_tu_t timing_unit);
+
/**
* @brief period getter
*
diff --git a/zephyr/modules/owntech_hrtim_driver/zephyr/src/hrtim_common.c b/zephyr/modules/owntech_hrtim_driver/zephyr/src/hrtim_common.c
index b7561bf79a4911e7638c1a0f0973facc1213eba3..f89a66465e5914d504c9106aae20b7594f2f03d6 100644
--- a/zephyr/modules/owntech_hrtim_driver/zephyr/src/hrtim_common.c
+++ b/zephyr/modules/owntech_hrtim_driver/zephyr/src/hrtim_common.c
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2021 LAAS-CNRS
+ * Copyright (c) 2021-2022 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
@@ -19,6 +19,7 @@
/**
* @author Clément Foucher <clement.foucher@laas.fr>
+ * @author Luiz Villa <luiz.villa@laas.fr>
*/
#include "voltage_mode/hrtim_voltage_mode.h"
@@ -33,9 +34,30 @@ void hrtim_init_current()
hrtim_cm_enable();
}
-void hrtim_init_voltage()
+void hrtim_init_voltage_buck()
{
- leg_init(true);
+ leg_init(true,true);
+ hrtim_adc_trigger_en(0, ADC1R, AD13_TAC3);
+ hrtim_cmp_set(0, TIMA, CMP3xR, 1);
+}
+
+void hrtim_init_voltage_boost()
+{
+ leg_init(false,false);
+ hrtim_adc_trigger_en(0, ADC1R, AD13_TAC3);
+ hrtim_cmp_set(0, TIMA, CMP3xR, 1);
+}
+
+void hrtim_init_voltage_leg1_buck_leg2_boost()
+{
+ leg_init(true,false);
+ hrtim_adc_trigger_en(0, ADC1R, AD13_TAC3);
+ hrtim_cmp_set(0, TIMA, CMP3xR, 1);
+}
+
+void hrtim_init_voltage_leg1_boost_leg2_buck()
+{
+ leg_init(false,true);
hrtim_adc_trigger_en(0, ADC1R, AD13_TAC3);
hrtim_cmp_set(0, TIMA, CMP3xR, 1);
}
diff --git a/zephyr/modules/owntech_hrtim_driver/zephyr/src/voltage_mode/hrtim_voltage_mode.c b/zephyr/modules/owntech_hrtim_driver/zephyr/src/voltage_mode/hrtim_voltage_mode.c
index 7c1fddcf3232cdc8b734506e9c55050846ea4d33..e59163ce4b329d5127b54bab50068b137ed6d1bf 100644
--- a/zephyr/modules/owntech_hrtim_driver/zephyr/src/voltage_mode/hrtim_voltage_mode.c
+++ b/zephyr/modules/owntech_hrtim_driver/zephyr/src/voltage_mode/hrtim_voltage_mode.c
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2020-2021 LAAS-CNRS
+ * Copyright (c) 2020-2022 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
@@ -27,6 +27,7 @@
* @author Hugues Larrive <hugues.larrive@laas.fr>
* @author Clément Foucher <clement.foucher@laas.fr>
* @author Antoine Boche <antoine.boche@laas.fr>
+ * @author Luiz Villa <luiz.villa@laas.fr>
*/
#include <stm32_ll_rcc.h>
@@ -130,7 +131,7 @@ static inline uint32_t _period_ckpsc(hrtim_t hrtim, uint32_t freq,
return frequency;
}
-uint16_t hrtim_init(hrtim_t hrtim, uint32_t *freq, uint16_t dt, uint8_t upper_switch_convention)
+uint16_t hrtim_init(hrtim_t hrtim, uint32_t *freq, uint16_t dt, uint8_t leg1_upper_switch_convention, uint8_t leg2_upper_switch_convention)
{
/* Master timer initialization */
uint16_t period = hrtim_init_master(hrtim, freq);
@@ -147,7 +148,8 @@ uint16_t hrtim_init(hrtim_t hrtim, uint32_t *freq, uint16_t dt, uint8_t upper_sw
hrtim_cnt_en(hrtim, (1 << (HRTIM_MCR_TACEN_Pos + tu)));
/* Setup outputs */
- hrtim_cmpl_pwm_out(hrtim, tu, upper_switch_convention);
+ hrtim_cmpl_pwm_out1(hrtim, tu, leg1_upper_switch_convention);
+ hrtim_cmpl_pwm_out2(hrtim, tu, leg2_upper_switch_convention);
/* Reset on master timer period event */
hrtim_rst_evt_en(hrtim, tu, RST_MSTPER);
@@ -366,6 +368,40 @@ void hrtim_cmpl_pwm_out(hrtim_t hrtim, hrtim_tu_t tu, bool upper_switch_conventi
}
}
+void hrtim_cmpl_pwm_out1(hrtim_t hrtim, hrtim_tu_t tu, bool leg1_upper_switch_convention)
+{
+ // Configuration for the upper switch convention
+ if (leg1_upper_switch_convention == true)
+ {
+ dev(hrtim)->sTimerxRegs[tu].SETx1R = PER;
+ dev(hrtim)->sTimerxRegs[tu].RSTx1R = CMP1;
+ }
+
+ // Configuration for the lower switch convention
+ else if (leg1_upper_switch_convention == false)
+ {
+ dev(hrtim)->sTimerxRegs[tu].SETx1R = CMP1;
+ dev(hrtim)->sTimerxRegs[tu].RSTx1R = PER;
+ }
+}
+
+void hrtim_cmpl_pwm_out2(hrtim_t hrtim, hrtim_tu_t tu, bool leg2_upper_switch_convention)
+{
+ // Configuration for the upper switch convention
+ if (leg2_upper_switch_convention == true)
+ {
+ dev(hrtim)->sTimerxRegs[tu].SETx2R = CMP1;
+ dev(hrtim)->sTimerxRegs[tu].RSTx2R = PER;
+ }
+
+ // Configuration for the lower switch convention
+ else if (leg2_upper_switch_convention == false)
+ {
+ dev(hrtim)->sTimerxRegs[tu].SETx2R = PER;
+ dev(hrtim)->sTimerxRegs[tu].RSTx2R = CMP1;
+ }
+}
+
void hrtim_period_set(hrtim_t hrtim, hrtim_tu_t tu, uint16_t value)
{
if (tu == MSTR) {
diff --git a/zephyr/modules/owntech_hrtim_driver/zephyr/src/voltage_mode/hrtim_voltage_mode.h b/zephyr/modules/owntech_hrtim_driver/zephyr/src/voltage_mode/hrtim_voltage_mode.h
index d45e92a0ceb85842e0c3cb05edfc75ddb2b48089..65fbbe73b329e5ca500dc5d39e70874462742653 100644
--- a/zephyr/modules/owntech_hrtim_driver/zephyr/src/voltage_mode/hrtim_voltage_mode.h
+++ b/zephyr/modules/owntech_hrtim_driver/zephyr/src/voltage_mode/hrtim_voltage_mode.h
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2020-2021 LAAS-CNRS
+ * Copyright (c) 2020-2022 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
@@ -28,6 +28,7 @@
* @author Hugues Larrive <hugues.larrive@laas.fr>
* @author Clément Foucher <clement.foucher@laas.fr>
* @author Antoine Boche <antoine.boche@laas.fr>
+ * @author Luiz Villa <luiz.villa@laas.fr>
*/
#ifndef HRTIM_VOLTAGE_MODE_H_
@@ -331,16 +332,16 @@ typedef enum {
* @brief Initialize an HRTIM device and all these timing units for
* complementary pwm outputs with a dead time.
*
- * @param[in] dev HRTIM device to initialize
- * @param[inout] freq HRTIM frequency in Hz
- * @param[in] dt Desired dead time in ns
- * @param[in] switch_convention Choice of the switch convention
+ * @param[in] dev HRTIM device to initialize
+ * @param[inout] freq HRTIM frequency in Hz
+ * @param[in] dt Desired dead time in ns
+ * @param[in] leg1_upper_switch_convention Choice of the switch convention for leg 1
+ * @param[in] leg2_upper_switch_convention Choice of the switch convention for leg 2
*
* @return actual HRTIM resolution on success
* @return 0 on error
*/
-uint16_t hrtim_init(hrtim_t dev, uint32_t *freq, uint16_t dt, uint8_t switch_convention);
-
+uint16_t hrtim_init(hrtim_t dev, uint32_t *freq, uint16_t dt, uint8_t leg1_upper_switch_convention, uint8_t leg2_upper_switch_convention);
/**
* @brief Initialize an HRTIM device master timer
*
diff --git a/zephyr/modules/owntech_hrtim_driver/zephyr/src/voltage_mode/owntech_leg_driver.cpp b/zephyr/modules/owntech_hrtim_driver/zephyr/src/voltage_mode/owntech_leg_driver.cpp
index e5e18d2c3e4a9b229c18aaa79a9d7d9f92eff131..0650a00a8738ddfa999d1af44b180e6286f35345 100644
--- a/zephyr/modules/owntech_hrtim_driver/zephyr/src/voltage_mode/owntech_leg_driver.cpp
+++ b/zephyr/modules/owntech_hrtim_driver/zephyr/src/voltage_mode/owntech_leg_driver.cpp
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2020 LAAS-CNRS
+ * Copyright (c) 2020-2022 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
@@ -21,9 +21,10 @@
/**
* @file
* @brief PWM management layer by inverter leg
- * @date 2020
+ * @date 2022
* @author Hugues Larrive <hugues.larrive@laas.fr>
* @author Antoine Boche <antoine.boche@laas.fr>
+ * @author Luiz Villa <luiz.villa@laas.fr>
*/
#include "leg.h"
@@ -41,7 +42,7 @@ static leg_conf_t leg_conf[6]; /* a copy of leg_config with index
* on the power converter to a frequency of 200kHz
* Must be initialized in first position
*/
-uint16_t leg_init(bool upper_switch_convention)
+uint16_t leg_init(bool leg1_upper_switch_convention, bool leg2_upper_switch_convention)
{
uint32_t freq = LEG_FREQ;
@@ -51,7 +52,7 @@ uint16_t leg_init(bool upper_switch_convention)
leg_conf[leg_config[i].timing_unit] = leg_config[i];
}
- period = hrtim_init(0, &freq, LEG_DEFAULT_DT,upper_switch_convention);
+ period = hrtim_init(0, &freq, LEG_DEFAULT_DT,leg1_upper_switch_convention,leg2_upper_switch_convention);
dead_time = (period*LEG_DEFAULT_DT*leg_get_freq())/1000000;
min_pw = (period * 0.1) + dead_time;
max_pw = (period * 0.9) + dead_time;
@@ -83,10 +84,14 @@ void leg_set(hrtim_tu_t timing_unit, uint16_t pulse_width, uint16_t phase_shift)
void leg_stop(hrtim_tu_t timing_unit)
{
- hrtim_pwm_set( leg_conf[timing_unit].hrtim,
- leg_conf[timing_unit].timing_unit,
- 0,
- 0);
+ hrtim_out_dis(leg_conf[timing_unit].hrtim, leg_conf[timing_unit].timing_unit, OUT1);
+ hrtim_out_dis(leg_conf[timing_unit].hrtim, leg_conf[timing_unit].timing_unit, OUT2);
+}
+
+void leg_start(hrtim_tu_t timing_unit)
+{
+ hrtim_out_en(leg_conf[timing_unit].hrtim, leg_conf[timing_unit].timing_unit, OUT1);
+ hrtim_out_en(leg_conf[timing_unit].hrtim, leg_conf[timing_unit].timing_unit, OUT2);
}
uint16_t leg_period(void)