diff --git a/zephyr/modules/owntech_gpio_api/zephyr/public_api/GpioApi.cpp b/zephyr/modules/owntech_gpio_api/zephyr/public_api/GpioApi.cpp
index d564f2d3a66bdf9a388232a46e4dd65114c415e9..05fed1f4020e73b22114aac00d68dc374b1f7d3c 100644
--- a/zephyr/modules/owntech_gpio_api/zephyr/public_api/GpioApi.cpp
+++ b/zephyr/modules/owntech_gpio_api/zephyr/public_api/GpioApi.cpp
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2022 LAAS-CNRS
+ * Copyright (c) 2023 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
@@ -19,7 +19,7 @@
/**
* @brief Owntech GPIO API
- * @date 2022
+ * @date 2023
*
* @author Clément Foucher <clement.foucher@laas.fr>
*/
@@ -34,6 +34,11 @@ const struct device* const GPIO_B = DEVICE_DT_GET(DT_NODELABEL(gpiob));
const struct device* const GPIO_C = DEVICE_DT_GET(DT_NODELABEL(gpioc));
const struct device* const GPIO_D = DEVICE_DT_GET(DT_NODELABEL(gpiod));
+const gpio_flags_t INPUT = GPIO_INPUT;
+const gpio_flags_t INPUT_PULLUP = GPIO_INPUT | GPIO_PULL_UP;
+const gpio_flags_t OUTPUT = GPIO_OUTPUT;
+
+
void GpioApi::configurePin(pin_t pin, gpio_flags_t flags)
{
gpio_pin_t pin_number = this->getPinNumber(pin);
diff --git a/zephyr/modules/owntech_gpio_api/zephyr/public_api/GpioApi.h b/zephyr/modules/owntech_gpio_api/zephyr/public_api/GpioApi.h
index fb073ea51370a1588a9ed93f8e3110664e61b7f6..78375e3b40e4273a8b29b80debd1c517fa623273 100644
--- a/zephyr/modules/owntech_gpio_api/zephyr/public_api/GpioApi.h
+++ b/zephyr/modules/owntech_gpio_api/zephyr/public_api/GpioApi.h
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2022 LAAS-CNRS
+ * Copyright (c) 2022-2023 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
@@ -19,7 +19,7 @@
/**
* @brief Owntech GPIO API
- * @date 2022
+ * @date 2023
*
* @author Clément Foucher <clement.foucher@laas.fr>
*/
@@ -34,31 +34,31 @@ extern const struct device* const GPIO_B;
extern const struct device* const GPIO_C;
extern const struct device* const GPIO_D;
-const gpio_flags_t INPUT = GPIO_INPUT;
-const gpio_flags_t INPUT_PULLUP = GPIO_INPUT | GPIO_PULL_UP;
-const gpio_flags_t OUTPUT = GPIO_OUTPUT;
-
-const uint8_t PA = 0x00;
-const uint8_t PB = 0x10;
-const uint8_t PC = 0x20;
-const uint8_t PD = 0x30;
-
-const uint8_t P1 = 0x0;
-const uint8_t P2 = 0x1;
-const uint8_t P3 = 0x2;
-const uint8_t P4 = 0x3;
-const uint8_t P5 = 0x4;
-const uint8_t P6 = 0x5;
-const uint8_t P7 = 0x6;
-const uint8_t P8 = 0x7;
-const uint8_t P9 = 0x8;
-const uint8_t P10 = 0x9;
-const uint8_t P11 = 0xA;
-const uint8_t P12 = 0xB;
-const uint8_t P13 = 0xC;
-const uint8_t P14 = 0xD;
-const uint8_t P15 = 0xE;
-const uint8_t P16 = 0xF;
+extern const gpio_flags_t INPUT;
+extern const gpio_flags_t INPUT_PULLUP;
+extern const gpio_flags_t OUTPUT;
+
+static const uint8_t PA = 0x00;
+static const uint8_t PB = 0x10;
+static const uint8_t PC = 0x20;
+static const uint8_t PD = 0x30;
+
+static const uint8_t P1 = 0x0;
+static const uint8_t P2 = 0x1;
+static const uint8_t P3 = 0x2;
+static const uint8_t P4 = 0x3;
+static const uint8_t P5 = 0x4;
+static const uint8_t P6 = 0x5;
+static const uint8_t P7 = 0x6;
+static const uint8_t P8 = 0x7;
+static const uint8_t P9 = 0x8;
+static const uint8_t P10 = 0x9;
+static const uint8_t P11 = 0xA;
+static const uint8_t P12 = 0xB;
+static const uint8_t P13 = 0xC;
+static const uint8_t P14 = 0xD;
+static const uint8_t P15 = 0xE;
+static const uint8_t P16 = 0xF;
typedef enum
{
@@ -118,16 +118,68 @@ typedef enum
class GpioApi
{
public:
+
+ /**
+ * @brief Configure an I/O pin. This must be done
+ * prior to accessing any other function
+ * from this API on the pin.
+ *
+ * @param pin STM32-style name of the pin,
+ * e.g. PA1, PB10, etc. See pin_t type for
+ * the full list of existing pins on
+ * Spin board.
+ * @param flags Pin configuration flags.
+ * Authorized values:
+ * - INPUT
+ * - INPUT_PULLUP
+ * - OUTPUT
+ */
void configurePin(pin_t pin, gpio_flags_t flags);
+
+ /**
+ * @brief Set the value of a pin configured as output to 1.
+ *
+ * @param pin STM32-style name of the pin.
+ */
void setPin(pin_t pin);
+
+ /**
+ * @brief Reset the value of a pin configured as output to 0.
+ *
+ * @param pin STM32-style name of the pin.
+ */
void resetPin(pin_t pin);
+
+ /**
+ * @brief Toggle the value of a pin configured as output:
+ * - if pin value is 1, it will be set to 0
+ * - if pin value is 0, it will be set to 1.
+ *
+ * @param pin STM32-style name of the pin.
+ */
void togglePin(pin_t pin);
+
+ /**
+ * @brief Set the value of a pin configured as output
+ * to a given value.
+ *
+ * @param pin STM32-style name of the pin.
+ * @param value Value (0 or 1) to assign to the pin.
+ */
void writePin(pin_t pin, uint8_t value);
+
+ /**
+ * @brief Get the current value of a pin configured as input.
+ *
+ * @param pin STM32-style name of the pin.
+ * @return Current value (0 or 1) of the pin.
+ */
uint8_t readPin(pin_t pin);
private:
gpio_pin_t getPinNumber(pin_t pin);
const struct device* getGpioDevice(pin_t pin);
+
};
extern GpioApi gpio;
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 7966256aef625c446b91ab5d0834d5409d260819..9365addd5e036a3933ef84112678c62cb48eff4a 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
@@ -41,7 +41,7 @@
#include "assert.h"
-static const struct soc_gpio_pinctrl tim_pinctrl[] = ST_STM32_DT_INST_PINCTRL(0, 0);
+//static const struct soc_gpio_pinctrl tim_pinctrl[] = ST_STM32_DT_INST_PINCTRL(0, 0);
static uint8_t _TU_num1(hrtim_tu_t tu) /* Return the number associated to the timing unit */
{