The HRTIM lacks support for a single phase inverter. This commit provides this functionality.

zephyr/modules/owntech_hardware_configuration/zephyr/public_api/HardwareConfiguration.cpp

@@ -60,7 +60,7 @@ HardwareConfiguration hwConfig;
  */
 void HardwareConfiguration::setBoardVersion(hardware_version_t hardware_version)
 {
-	if (hardware_version == v_1_1_2 || hardware_version == SPIN)
+	if (hardware_version == O2_v_1_1_2 || hardware_version == SPIN_v_0_9)
 	{
 		uart_lpuart1_swap_rx_tx();
 	}
@@ -148,12 +148,14 @@ void HardwareConfiguration::initInterleavedBoostModeCenterAligned()
 
 void HardwareConfiguration::initFullBridgeBuckMode()
 {
-	hrtim_init_interleaved_buck_mode();
+	hrtim_init_full_bridge_buck_mode();
 }
 
-void HardwareConfiguration::initFullBridgeBuckModeCenterAligned()
+void HardwareConfiguration::initFullBridgeBuckModeCenterAligned(inverter_modulation_t inverter_modulation_type)
 {
-	hrtim_init_interleaved_buck_mode_center_aligned();
+	bool bipolar_mode;
+	if (inverter_modulation_type == bipolar) bipolar_mode = true; else bipolar_mode = false;
+	hrtim_init_full_bridge_buck_mode_center_aligned(bipolar_mode);
 }
 
 void HardwareConfiguration::initFullBridgeBoostMode()
@@ -166,20 +168,20 @@ void HardwareConfiguration::initFullBridgeBoostModeCenterAligned()
 	hrtim_init_interleaved_boost_mode_center_aligned();
 }
 
-void HardwareConfiguration::initIndependentMode(hardware_conversion_t leg1_conversion_type, hardware_conversion_t leg2_conversion_type)
+void HardwareConfiguration::initIndependentMode(leg_operation_t leg1_operation_type, leg_operation_t leg2_operation_type)
 {
 	bool leg1_mode, leg2_mode;
-	if (leg1_conversion_type == buck) leg1_mode = true; else leg1_mode = false;
-	if (leg2_conversion_type == buck) leg2_mode = true; else leg2_mode = false;
+	if (leg1_operation_type == buck) leg1_mode = true; else leg1_mode = false;
+	if (leg2_operation_type == buck) leg2_mode = true; else leg2_mode = false;
 
 	hrtim_init_independent_mode(leg1_mode, leg2_mode);
 }
 
-void HardwareConfiguration::initIndependentModeCenterAligned(hardware_conversion_t leg1_conversion_type, hardware_conversion_t leg2_conversion_type)
+void HardwareConfiguration::initIndependentModeCenterAligned(leg_operation_t leg1_operation_type, leg_operation_t leg2_operation_type)
 {
 	bool leg1_mode, leg2_mode;
-	if (leg1_conversion_type == buck) leg1_mode = true; else leg1_mode = false;
-	if (leg2_conversion_type == buck) leg2_mode = true; else leg2_mode = false;
+	if (leg1_operation_type == buck) leg1_mode = true; else leg1_mode = false;
+	if (leg2_operation_type == buck) leg2_mode = true; else leg2_mode = false;
 
 	hrtim_init_independent_mode_center_aligned(leg1_mode, leg2_mode);
 }
@@ -189,9 +191,9 @@ void HardwareConfiguration::setInterleavedDutyCycle(float32_t duty_cycle)
 	hrtim_interleaved_pwm_update(duty_cycle);
 }
 
-void HardwareConfiguration::setFullBridgeDutyCycle(float32_t duty_cycle)
+void HardwareConfiguration::setFullBridgeBuckDutyCycle(float32_t duty_cycle)
 {
-	hrtim_hbridge_pwm_update(duty_cycle);
+	hrtim_full_bridge_buck_pwm_update(duty_cycle);
 }
 
 void HardwareConfiguration::setLeg1DutyCycle(float32_t duty_cycle)
@@ -229,9 +231,9 @@ void HardwareConfiguration::setInterleavedOn()
 	hrtim_start_interleaved();
 }
 
-void HardwareConfiguration::setFullBridgeOn()
+void HardwareConfiguration::setFullBridgeBuckOn()
 {
-	hrtim_start_interleaved();
+	hrtim_start_full_bridge_buck();
 }
 
 void HardwareConfiguration::setLeg1On()
@@ -249,9 +251,9 @@ void HardwareConfiguration::setInterleavedOff()
 	hrtim_stop_interleaved();
 }
 
-void HardwareConfiguration::setFullBridgeOff()
+void HardwareConfiguration::setFullBridgeBuckOff()
 {
-	hrtim_stop_interleaved();
+	hrtim_stop_full_bridge_buck();
 }
 
 void HardwareConfiguration::setLeg1Off()

zephyr/modules/owntech_hardware_configuration/zephyr/public_api/HardwareConfiguration.h

@@ -45,19 +45,27 @@
  */
 typedef enum
 {
-    v_0_0, // No power converter attached, the software is running on Nucleo G474RE
-    v_0_9,
-    v_1_1_2,
-	SPIN
+	nucleo_G474RE,
+	O2_v_0_9,
+	O2_v_1_1_2,
+	SPIN_v_0_9
 } hardware_version_t;
 
-/** Switch leg opeation type. 
+/** Switch leg operation type.
  */
 typedef enum
 {
-    buck, // No power converter attached, the software is running on Nucleo G474RE
-    boost
-} hardware_conversion_t;
+	buck,
+	boost
+} leg_operation_t;
+
+/** Inverter leg operation type.
+ */
+typedef enum
+{
+	unipolar,
+	bipolar
+} inverter_modulation_t;
 
 
 /////
@@ -92,14 +100,14 @@ public:
 	static void initInterleavedBoostMode();
 	static void initInterleavedBoostModeCenterAligned();
 	static void initFullBridgeBuckMode();
-	static void initFullBridgeBuckModeCenterAligned();
+	static void initFullBridgeBuckModeCenterAligned(inverter_modulation_t inverter_modulation_type);
 	static void initFullBridgeBoostMode();
 	static void initFullBridgeBoostModeCenterAligned();
-	static void initIndependentMode(hardware_conversion_t leg1_conversion_type, hardware_conversion_t leg2_conversion_type);
-	static void initIndependentModeCenterAligned(hardware_conversion_t leg1_conversion_type, hardware_conversion_t leg2_conversion_type);
+	static void initIndependentMode(leg_operation_t leg1_operation_type, leg_operation_t leg2_operation_type);
+	static void initIndependentModeCenterAligned(leg_operation_t leg1_operation_type, leg_operation_t leg2_operation_type);
 
 	static void setInterleavedDutyCycle(float32_t duty_cycle);
-	static void setFullBridgeDutyCycle(float32_t duty_cycle);
+	static void setFullBridgeBuckDutyCycle(float32_t duty_cycle);
 
 	static void setLeg1DutyCycle(float32_t duty_cycle);
 	static void setLeg2DutyCycle(float32_t duty_cycle);
@@ -112,12 +120,12 @@ public:
 
 
 	static void setInterleavedOn();
-	static void setFullBridgeOn();
+	static void setFullBridgeBuckOn();
 	static void setLeg1On();
 	static void setLeg2On();
 
 	static void setInterleavedOff();
-	static void setFullBridgeOff();
+	static void setFullBridgeBuckOff();
 	static void setLeg1Off();
 	static void setLeg2Off();
 

zephyr/modules/owntech_hardware_configuration/zephyr/src/hrtim_configuration.cpp

@@ -48,7 +48,7 @@ static uint16_t pwm_phase_shift_leg1;
 static uint16_t pwm_phase_shift_leg2;
 static uint16_t pwm_low_pulse_width;
 static uint16_t pwm_high_pulse_width;
-
+static bool     full_bridge_bipolar_mode;
 
 /**
  * This function initializes both legs in buck mode
@@ -151,6 +151,42 @@ void hrtim_init_independent_mode_center_aligned(bool leg1_buck_mode, bool leg2_b
 	pwm_high_pulse_width = pwm_period * HIGH_DUTY;
 }
 
+/**
+ * This function initializes both legs in full-bridge mode
+ */
+void hrtim_init_full_bridge_buck_mode()
+{
+	hrtim_init_voltage_buck();
+	full_bridge_bipolar_mode = false; //left-aligned inverter is always on unipolar mode
+
+	pwm_period = leg_period();
+	pwm_low_pulse_width = pwm_period * LOW_DUTY;
+	pwm_high_pulse_width = pwm_period * HIGH_DUTY;
+
+	pwm_phase_shift = pwm_period / 2;
+
+}
+
+/**
+ * This function initializes both legs in full-bridge mode
+ */
+void hrtim_init_full_bridge_buck_mode_center_aligned(bool bipolar_mode)
+{
+	hrtim_init_voltage_buck_center_aligned();
+	full_bridge_bipolar_mode = bipolar_mode;
+
+	pwm_period = leg_period();
+	pwm_low_pulse_width = pwm_period * LOW_DUTY;
+	pwm_high_pulse_width = pwm_period * HIGH_DUTY;
+
+	if (bipolar_mode){
+		pwm_phase_shift = 0;
+	}else{
+		pwm_phase_shift = pwm_period;
+	}
+
+}
+
 
 /**
  * This function transfer the calculated PWM value to the
@@ -186,7 +222,7 @@ void hrtim_interleaved_pwm_update(float32_t pwm_duty_cycle)
 		leg_set(TIMB, pwm_pulse_width, pwm_phase_shift);
 	}
 
-	hrtim_update_adc_trig_interleaved( (pwm_pulse_width>>1) + (pwm_pulse_width>>2));
+	hrtim_update_adc_trig_interleaved( (pwm_pulse_width>>1) + (pwm_pulse_width>>2));  //works only on left aligned as center aligned does not use the same comparators
 }
 
 /**
@@ -195,36 +231,63 @@ void hrtim_interleaved_pwm_update(float32_t pwm_duty_cycle)
  * bounds
  */
 
-void hrtim_hbridge_pwm_update(float32_t pwm_duty_cycle)
+void hrtim_full_bridge_buck_pwm_update(float32_t pwm_duty_cycle)
 {
 	uint16_t pwm_pulse_width;
 	uint16_t pwm_reverse_pulse_width;
 
 	// TESTING PWM VALUE TO AVOID OVERFLOW AND PWM UPDATE//
-	if (pwm_duty_cycle > HIGH_DUTY) // SATURATION CONDITIONS TO AVOID DIVERGENCE.
+	if(full_bridge_bipolar_mode)
 	{
-		pwm_duty_cycle = HIGH_DUTY;
-		pwm_pulse_width = pwm_high_pulse_width;
-		pwm_reverse_pulse_width = (1-pwm_duty_cycle) * pwm_period;
-		leg_set(TIMA, pwm_pulse_width, 0);
-		leg_set(TIMB, pwm_reverse_pulse_width, pwm_period*pwm_duty_cycle);
-	}
-
-	else if (pwm_duty_cycle < LOW_DUTY) // SATURATION CONDITIONS TO AVOID DIVERGENCE.
-	{
-		pwm_duty_cycle = LOW_DUTY;
-		pwm_pulse_width = pwm_low_pulse_width;
-		pwm_reverse_pulse_width = (1-pwm_duty_cycle) * pwm_period;
-		leg_set(TIMA, pwm_pulse_width, 0);
-		leg_set(TIMB, pwm_reverse_pulse_width, pwm_period*pwm_duty_cycle);
+		if (pwm_duty_cycle > HIGH_DUTY) // SATURATION CONDITIONS TO AVOID DIVERGENCE.
+		{
+			pwm_duty_cycle = HIGH_DUTY;
+			pwm_pulse_width = pwm_high_pulse_width;
+			pwm_reverse_pulse_width = (1-pwm_duty_cycle) * pwm_period;
+			leg_set(TIMA, pwm_pulse_width, 0);
+			leg_set(TIMB, pwm_reverse_pulse_width, pwm_period*pwm_duty_cycle);
+		}
+		else if (pwm_duty_cycle < LOW_DUTY) // SATURATION CONDITIONS TO AVOID DIVERGENCE.
+		{
+			pwm_duty_cycle = LOW_DUTY;
+			pwm_pulse_width = pwm_low_pulse_width;
+			pwm_reverse_pulse_width = (1-pwm_duty_cycle) * pwm_period;
+			leg_set(TIMA, pwm_pulse_width, 0);
+			leg_set(TIMB, pwm_reverse_pulse_width, pwm_period*pwm_duty_cycle);
+		}
+		else
+		{
+			pwm_pulse_width = (pwm_duty_cycle * pwm_period);
+			pwm_reverse_pulse_width = (1-pwm_duty_cycle) * pwm_period;
+			leg_set(TIMA, pwm_pulse_width, 0);
+			leg_set(TIMB, pwm_reverse_pulse_width, pwm_period*pwm_duty_cycle);
+		}
 	}
-
 	else
 	{
-		pwm_pulse_width = (pwm_duty_cycle * pwm_period);
-		pwm_reverse_pulse_width = (1-pwm_duty_cycle) * pwm_period;
-		leg_set(TIMA, pwm_pulse_width, 0);
-		leg_set(TIMB, pwm_reverse_pulse_width, pwm_period*pwm_duty_cycle);
+		if (pwm_duty_cycle > HIGH_DUTY) // SATURATION CONDITIONS TO AVOID DIVERGENCE.
+		{
+			pwm_duty_cycle = HIGH_DUTY;
+			pwm_pulse_width = pwm_high_pulse_width;
+			pwm_reverse_pulse_width = (1-pwm_duty_cycle) * pwm_period;
+			leg_set(TIMA, pwm_pulse_width, 0);
+			leg_set(TIMB, pwm_reverse_pulse_width, pwm_phase_shift);
+		}
+		else if (pwm_duty_cycle < LOW_DUTY) // SATURATION CONDITIONS TO AVOID DIVERGENCE.
+		{
+			pwm_duty_cycle = LOW_DUTY;
+			pwm_pulse_width = pwm_low_pulse_width;
+			pwm_reverse_pulse_width = (1-pwm_duty_cycle) * pwm_period;
+			leg_set(TIMA, pwm_pulse_width, 0);
+			leg_set(TIMB, pwm_reverse_pulse_width, pwm_phase_shift);
+		}
+		else
+		{
+			pwm_pulse_width = (pwm_duty_cycle * pwm_period);
+			pwm_reverse_pulse_width = (1-pwm_duty_cycle) * pwm_period;
+			leg_set(TIMA, pwm_pulse_width, 0);
+			leg_set(TIMB, pwm_reverse_pulse_width, pwm_phase_shift);
+		}
 	}
 }
 
@@ -334,16 +397,27 @@ void hrtim_leg2_phase_shift_update_center_aligned(float32_t phase_shift)
  */
 void hrtim_stop_interleaved()
 {
-    leg_stop(TIMA);
-    leg_stop(TIMB);
+	leg_stop(TIMA);
+	leg_stop(TIMB);
 }
 
+/**
+ * This stops the converter by putting both timing
+ * units outputs low
+ */
+void hrtim_stop_full_bridge_buck()
+{
+	leg_stop(TIMA);
+	leg_stop(TIMB);
+}
+
+
 /**
  * This stops only leg 1
  */
 void hrtim_stop_leg1()
 {
-    leg_stop(TIMA);
+	leg_stop(TIMA);
 }
 
 /**
@@ -351,7 +425,7 @@ void hrtim_stop_leg1()
  */
 void hrtim_stop_leg2()
 {
-    leg_stop(TIMB);
+	leg_stop(TIMB);
 }
 /**
  * This stops the converter by putting both timing
@@ -362,6 +436,17 @@ void hrtim_start_interleaved()
 	leg_start(TIMA);
 	leg_start(TIMB);
 }
+
+/**
+ * This stops the converter by putting both timing
+ * units outputs low
+ */
+void hrtim_start_full_bridge_buck()
+{
+	leg_start(TIMA);
+	leg_start(TIMB);
+}
+
 /**
  * This stops the converter by putting both timing
  * units outputs low

zephyr/modules/owntech_hardware_configuration/zephyr/src/hrtim_configuration.h

@@ -49,6 +49,19 @@ void hrtim_init_interleaved_buck_mode_center_aligned();
  */
 void hrtim_init_interleaved_boost_mode();
 
+/**
+ * @brief     This function initializes the converter in full bridge mode
+ * with the input on the high side and the output on the low side with the HRTIM on left aligned
+ */
+void hrtim_init_full_bridge_buck_mode();
+
+/**
+ * @brief     This function initializes the converter in full bridge mode
+ * with the input on the high side and the output on the low side with the HRTIM as center aligned
+ */
+void hrtim_init_full_bridge_buck_mode_center_aligned(bool bipolar_mode);
+
+
 /**
  * @brief     This function initializes the converter in interleaved boost mode
  * with the input on the low side and the output on the high side. The counting mode
@@ -86,7 +99,7 @@ void hrtim_interleaved_pwm_update(float32_t duty_cycle);
  *
  * @param[in] duty_cycle    floating point duty cycle comprised between 0 and 1.
  */
-void hrtim_hbridge_pwm_update(float32_t duty_cycle);
+void hrtim_full_bridge_buck_pwm_update(float32_t duty_cycle);
 
 /**
  * @brief     This function transfer the calculated PWM value of leg_1 to the
@@ -129,6 +142,7 @@ void hrtim_leg2_phase_shift_update(float32_t phase_shift);
  */
 
 void hrtim_leg1_phase_shift_update_center_aligned(float32_t phase_shift);
+
 /**
  * @brief     This function updates the phase shift between the leg 1 and the master hrtim for the center aligned
  *
@@ -137,14 +151,17 @@ void hrtim_leg1_phase_shift_update_center_aligned(float32_t phase_shift);
 
 void hrtim_leg2_phase_shift_update_center_aligned(float32_t phase_shift);
 
-
-
 /**
  * @brief This function stops the converter by putting both timing
  * units outputs low
  */
 void hrtim_stop_interleaved();
 
+/**
+ * @brief This function stops the inverter
+ */
+void hrtim_stop_full_bridge_buck();
+
 /**
  * @brief This function stops only leg 1
  */
@@ -160,6 +177,11 @@ void hrtim_stop_leg2();
  */
 void hrtim_start_interleaved();
 
+/**
+ * @brief This function starts the inverter
+ */
+void hrtim_start_full_bridge_buck();
+
 /**
  * @brief This function starts only leg 1
  */