diff --git a/zephyr/boards/arm/owntech_board/dts/bindings/gpio-device.yaml b/zephyr/boards/arm/owntech_board/dts/bindings/gpio-device.yaml
index c5f3c1af9c0f8ef19a8aa2de6a236099c3d3b6a1..4151161c0e9f1eff73f574078411a97ac439e2d9 100644
--- a/zephyr/boards/arm/owntech_board/dts/bindings/gpio-device.yaml
+++ b/zephyr/boards/arm/owntech_board/dts/bindings/gpio-device.yaml
@@ -2,12 +2,6 @@ description: GPIO-controllable device
compatible: "gpio-device"
-properties:
- label:
- required: true
- type: string
- description: Name of the peripheral (used as device_get_binding() argument)
-
child-binding:
description: GPIO node
properties:
diff --git a/zephyr/boards/arm/owntech_board/dts/can-standby-switch.dtsi b/zephyr/boards/arm/owntech_board/dts/can-standby-switch.dtsi
index 5185624b0e4360c4aadb8bb2d9741e60ac87f601..020cf99466093d426353ba741061fb6c8096c0d5 100644
--- a/zephyr/boards/arm/owntech_board/dts/can-standby-switch.dtsi
+++ b/zephyr/boards/arm/owntech_board/dts/can-standby-switch.dtsi
@@ -7,7 +7,6 @@
/ {
can-standby-switch {
compatible = "gpio-device";
- label = "CAN_STANDBY";
can-standby-gpio-pin {
gpios = <&gpiob 10 GPIO_ACTIVE_HIGH>;
label = "CAN Standby output";
diff --git a/zephyr/boards/arm/owntech_board/dts/ngnd.dtsi b/zephyr/boards/arm/owntech_board/dts/ngnd.dtsi
index 09a0e48370c5738b6270628233588310f1dee6b4..cde9c3f06ed7198ada36f785e07b1b9ea77c0a0c 100644
--- a/zephyr/boards/arm/owntech_board/dts/ngnd.dtsi
+++ b/zephyr/boards/arm/owntech_board/dts/ngnd.dtsi
@@ -7,7 +7,6 @@
/ {
ngnd: ngnd-switch {
compatible = "gpio-device";
- label = "NGND";
ngnd-gpio-pin {
gpios = <&gpiob 11 GPIO_ACTIVE_HIGH>;
label = "Neutral to GND shunt";
diff --git a/zephyr/modules/owntech_adc_driver/zephyr/src/adc_channels.c b/zephyr/modules/owntech_adc_driver/zephyr/src/adc_channels.c
index 7e3ab484bcbc82e4384798276e7a4f6e2d46073d..7091a92084acbdf6d02b348f7618c46ba1708eba 100644
--- a/zephyr/modules/owntech_adc_driver/zephyr/src/adc_channels.c
+++ b/zephyr/modules/owntech_adc_driver/zephyr/src/adc_channels.c
@@ -57,7 +57,7 @@ typedef struct
#define ADC_INPUTS_NODELABEL DT_NODELABEL(mychannels)
// Channel properties
-#define CHANNEL_NAME(node_id) DT_LABEL(node_id)
+#define CHANNEL_NAME(node_id) DT_PROP(node_id, label)
#define CHANNEL_IS_DIFF(node_id) DT_PROP(node_id, differential)
#define CHANNEL_NUMBER(node_id) DT_PHA_BY_IDX(node_id, io_channels, 0, input)
#define CHANNEL_ADC(node_id) DT_PROP_BY_PHANDLE_IDX(node_id, io_channels, 0, label)
diff --git a/zephyr/modules/owntech_communication/zephyr/src/can.h b/zephyr/modules/owntech_communication/zephyr/src/can.h
index ddaec8c7cde77e37b508495e460acb9b1e942fa1..84efe2f8f3bf6d2ec624ef200cedfe59f2f417b8 100644
--- a/zephyr/modules/owntech_communication/zephyr/src/can.h
+++ b/zephyr/modules/owntech_communication/zephyr/src/can.h
@@ -4,7 +4,6 @@
#include <zephyr.h>
-#define CAN_DEVICE DT_LABEL(DT_NODELABEL(can1))
#define CAN_STANDBY_DEVICE DT_CHILD(DT_PATH(can_standby_switch), can_standby_gpio_pin)
diff --git a/zephyr/modules/owntech_communication/zephyr/src/thingset_isotp.cpp b/zephyr/modules/owntech_communication/zephyr/src/thingset_isotp.cpp
index 937eacd4d31e385dc6caadefd500f579063e4de0..8977d6fc38bf9cbe98b285f85497d10474a3f743 100644
--- a/zephyr/modules/owntech_communication/zephyr/src/thingset_isotp.cpp
+++ b/zephyr/modules/owntech_communication/zephyr/src/thingset_isotp.cpp
@@ -5,9 +5,11 @@
*/
/**
+ * @date 2022
* @author Martin Jäger <martin@libre.solar>
* @author Jean Alinei <jean.alinei@laas.fr>
* @author Luiz Villa <luiz.villa@laas.fr>
+ * @author Clément Foucher <clement.foucher@laas.fr>
*/
#include <canbus/isotp.h>
@@ -16,6 +18,7 @@
extern ThingSet ts;
extern uint16_t can_node_addr;
+static const struct device* can_dev = DEVICE_DT_GET(DT_NODELABEL(can1));
#define RX_THREAD_STACK_SIZE 1024
#define RX_THREAD_PRIORITY 2
@@ -53,8 +56,6 @@ void can_isotp_thread()
static uint8_t rx_buffer[600]; // large enough to receive a 512k flash page for DFU
static uint8_t tx_buffer[1000];
- const struct device* can_dev = device_get_binding(CAN_DEVICE);
-
enable_can();
if (!device_is_ready(can_dev)) {
diff --git a/zephyr/modules/owntech_communication/zephyr/src/thingset_pub_sub.cpp b/zephyr/modules/owntech_communication/zephyr/src/thingset_pub_sub.cpp
index 5b25ffb4bac26ce1284e66b830df07ccad26546f..0116157ad3c281adad868b7f4f862bbf42033cd6 100644
--- a/zephyr/modules/owntech_communication/zephyr/src/thingset_pub_sub.cpp
+++ b/zephyr/modules/owntech_communication/zephyr/src/thingset_pub_sub.cpp
@@ -5,9 +5,11 @@
*/
/**
+ * @date 2022
* @author Martin Jäger <martin@libre.solar>
* @author Jean Alinei <jean.alinei@laas.fr>
* @author Luiz Villa <luiz.villa@laas.fr>
+ * @author Clément Foucher <clement.foucher@laas.fr>
*/
@@ -29,6 +31,7 @@ extern ThingSet ts;
extern uint16_t can_node_addr;
uint16_t broadcast_time = 10; //the time of the measurement variables broadcast (multiples of 100ms)
uint16_t control_time = 10; //the time of the control variables broadcast/receive (multiples of 100ms)
+static const struct device* can_dev = DEVICE_DT_GET(DT_NODELABEL(can1));
// below defines should go into the ThingSet library
#define TS_CAN_SOURCE_GET(id) (((uint32_t)id & TS_CAN_SOURCE_MASK) >> TS_CAN_SOURCE_POS)
@@ -51,8 +54,6 @@ void can_pub_isr(uint32_t err_flags, void *arg)
void can_pub_send(uint32_t can_id, uint8_t can_data[8], uint8_t data_len)
{
- const struct device* can_dev = device_get_binding(CAN_DEVICE);
-
if (!device_is_ready(can_dev))
{
return;
@@ -119,8 +120,6 @@ void can_pubsub_thread()
{
enable_can();
- const struct device* can_dev = device_get_binding(CAN_DEVICE);
-
if (!device_is_ready(can_dev))
{
return;
diff --git a/zephyr/modules/owntech_dac_driver/zephyr/public_api/dac.h b/zephyr/modules/owntech_dac_driver/zephyr/public_api/dac.h
index bd35c6d0528f7d1d27f795d8f935124880315879..158c19c8723ad020ad013045569a45f0579fed38 100644
--- a/zephyr/modules/owntech_dac_driver/zephyr/public_api/dac.h
+++ b/zephyr/modules/owntech_dac_driver/zephyr/public_api/dac.h
@@ -38,9 +38,9 @@ extern "C" {
/////
// Public devices names
-#define DAC1_DEVICE DT_LABEL(DT_NODELABEL(dac1))
-#define DAC2_DEVICE DT_LABEL(DT_NODELABEL(dac2))
-#define DAC3_DEVICE DT_LABEL(DT_NODELABEL(dac3))
+#define DAC1_DEVICE DT_NODELABEL(dac1)
+#define DAC2_DEVICE DT_NODELABEL(dac2)
+#define DAC3_DEVICE DT_NODELABEL(dac3)
/////
diff --git a/zephyr/modules/owntech_data_acquisition/zephyr/dma/dma.c b/zephyr/modules/owntech_data_acquisition/zephyr/dma/dma.c
index 20538a65e9c2f070dc1a5670a9a296b93b853e6a..5faebacab147db17a22911997678523fa150b51e 100644
--- a/zephyr/modules/owntech_data_acquisition/zephyr/dma/dma.c
+++ b/zephyr/modules/owntech_data_acquisition/zephyr/dma/dma.c
@@ -51,10 +51,7 @@
/////
// DT definitions
-#define DMA1_NODELABEL DT_NODELABEL(dma1)
-#define DMA1_LABEL DT_PROP(DMA1_NODELABEL, label)
-
-static const struct device* dma1;
+static const struct device* dma1 = DEVICE_DT_GET(DT_NODELABEL(dma1));
/////
@@ -154,18 +151,19 @@ static void _dma_channel_init(uint8_t adc_num, uint32_t source_address, uint32_t
void dma_configure_and_start(uint8_t adc_count)
{
- dma1 = device_get_binding(DMA1_LABEL);
-
half_buffer_1 = k_malloc(adc_count * sizeof(uint16_t*));
half_buffer_2 = k_malloc(adc_count * sizeof(uint16_t*));
- for (uint8_t adc_index = 0 ; adc_index < adc_count ; adc_index++)
+ if (device_is_ready(dma1) == true)
{
- uint8_t adc_num = adc_index +1;
- if (adc_get_enabled_channels_count(adc_num) > 0)
+ for (uint8_t adc_index = 0 ; adc_index < adc_count ; adc_index++)
{
- _dma_channel_init(adc_num, source_registers[adc_index], source_triggers[adc_index]);
- dma_start(dma1, adc_num);
+ uint8_t adc_num = adc_index +1;
+ if (adc_get_enabled_channels_count(adc_num) > 0)
+ {
+ _dma_channel_init(adc_num, source_registers[adc_index], source_triggers[adc_index]);
+ dma_start(dma1, adc_num);
+ }
}
}
}
diff --git a/zephyr/modules/owntech_hardware_configuration/zephyr/src/dac_configuration.cpp b/zephyr/modules/owntech_hardware_configuration/zephyr/src/dac_configuration.cpp
index 2b15ba9e4f07c50a2210deadc95b840812ce9aa5..b213ff5134496d9a823deb9027ada158d859e93a 100644
--- a/zephyr/modules/owntech_hardware_configuration/zephyr/src/dac_configuration.cpp
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/src/dac_configuration.cpp
@@ -31,31 +31,35 @@
#include "dac.h"
+static const struct device* dac1 = DEVICE_DT_GET(DAC1_DEVICE);
+static const struct device* dac3 = DEVICE_DT_GET(DAC3_DEVICE);
+
+
void dac_config_dac1_dac3_current_mode_init()
{
- const struct device* dac1 = device_get_binding(DAC1_DEVICE);
- const struct device* dac3 = device_get_binding(DAC3_DEVICE);
-
- // DAC 1
- dac_function_config_t function_config =
+ if ( (device_is_ready(dac1) == true) && (device_is_ready(dac3) == true) )
{
- .dac_function = dac_function_sawtooth,
- .reset_trigger_source = hrtim_trig1,
- .step_trigger_source = hrtim_trig1,
- .polarity = dac_polarity_decrement,
- .reset_data = 4000,
- .step_data = 200
- };
-
- dac_set_function(dac1, 1, &function_config);
- dac_pin_configure(dac1, 1, dac_pin_internal);
- dac_start(dac1, 1);
-
- // DAC 3
- function_config.reset_trigger_source = hrtim_trig2;
- function_config.step_trigger_source = hrtim_trig2;
-
- dac_set_function(dac3, 1, &function_config);
- dac_pin_configure(dac3, 1, dac_pin_internal);
- dac_start(dac3, 1);
+ // DAC 1
+ dac_function_config_t function_config =
+ {
+ .dac_function = dac_function_sawtooth,
+ .reset_trigger_source = hrtim_trig1,
+ .step_trigger_source = hrtim_trig1,
+ .polarity = dac_polarity_decrement,
+ .reset_data = 4000,
+ .step_data = 200
+ };
+
+ dac_set_function(dac1, 1, &function_config);
+ dac_pin_configure(dac1, 1, dac_pin_internal);
+ dac_start(dac1, 1);
+
+ // DAC 3
+ function_config.reset_trigger_source = hrtim_trig2;
+ function_config.step_trigger_source = hrtim_trig2;
+
+ dac_set_function(dac3, 1, &function_config);
+ dac_pin_configure(dac3, 1, dac_pin_internal);
+ dac_start(dac3, 1);
+ }
}
diff --git a/zephyr/modules/owntech_hardware_configuration/zephyr/src/hardware_auto_configuration.cpp b/zephyr/modules/owntech_hardware_configuration/zephyr/src/hardware_auto_configuration.cpp
index d9167c8dbd1c3ea6257da3341f93bcccc8faa318..d227309d7b20fa1213dc3c641439da5cac11d940 100644
--- a/zephyr/modules/owntech_hardware_configuration/zephyr/src/hardware_auto_configuration.cpp
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/src/hardware_auto_configuration.cpp
@@ -41,6 +41,7 @@
// Owntech driver
#include "dac.h"
+static const struct device* dac2 = DEVICE_DT_GET(DAC2_DEVICE);
/////
// Functions to be run
@@ -57,11 +58,12 @@ static int _vrefbuf_init(const struct device* dev)
static int _dac2_init(const struct device* dev)
{
- const struct device* dac2 = device_get_binding(DAC2_DEVICE);
-
- dac_set_const_value(dac2, 1, 2048U);
- dac_pin_configure(dac2, 1, dac_pin_external);
- dac_start(dac2, 1);
+ if (device_is_ready(dac2) == true)
+ {
+ dac_set_const_value(dac2, 1, 2048U);
+ dac_pin_configure(dac2, 1, dac_pin_external);
+ dac_start(dac2, 1);
+ }
return 0;
}
diff --git a/zephyr/modules/owntech_hardware_configuration/zephyr/src/ngnd_configuration.cpp b/zephyr/modules/owntech_hardware_configuration/zephyr/src/ngnd_configuration.cpp
index 0d6efc6f4dca24ad1930a5c50a8ec30f2f3ef9db..301288038eecea41b90be39328e9fe190e14cf09 100644
--- a/zephyr/modules/owntech_hardware_configuration/zephyr/src/ngnd_configuration.cpp
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/src/ngnd_configuration.cpp
@@ -25,25 +25,21 @@
#include "ngnd.h"
-static const struct device* ngnd_switch = nullptr;
+static const struct device* ngnd_switch = DEVICE_DT_GET(NGND_DEVICE);
void ngnd_config_on()
{
- if (ngnd_switch == NULL)
+ if (device_is_ready(ngnd_switch) == true)
{
- ngnd_switch = device_get_binding(NGND_DEVICE);
+ ngnd_set(ngnd_switch, 1);
}
-
- ngnd_set(ngnd_switch, 1);
}
void ngnd_config_off()
{
- if (ngnd_switch == NULL)
+ if (device_is_ready(ngnd_switch) == true)
{
- ngnd_switch = device_get_binding(NGND_DEVICE);
+ ngnd_set(ngnd_switch, 0);
}
-
- ngnd_set(ngnd_switch, 0);
}
diff --git a/zephyr/modules/owntech_hardware_configuration/zephyr/src/timer_configuration.cpp b/zephyr/modules/owntech_hardware_configuration/zephyr/src/timer_configuration.cpp
index 3fa04a63458741dd7ba823f208805db0fbaac4f3..e0cbd8a7749a2eff599065073a4eee898a50df9c 100644
--- a/zephyr/modules/owntech_hardware_configuration/zephyr/src/timer_configuration.cpp
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/src/timer_configuration.cpp
@@ -25,7 +25,7 @@
#include "timer.h"
-static const struct device* timer4 = NULL;
+static const struct device* timer4 = DEVICE_DT_GET(TIMER4_DEVICE);
static bool timer4init = false;
static bool timer4started = false;
@@ -33,17 +33,19 @@ static bool timer4started = false;
static void _timer_incremental_encoder_tim4_init()
{
- // Configure timer
- timer4 = device_get_binding(TIMER4_DEVICE);
- struct timer_config_t timer_cfg =
+ if (device_is_ready(timer4) == true)
{
- .timer_enable_irq = 0,
- .timer_enable_encoder = 1,
- .timer_enc_pin_mode = pull_up
+ // Configure timer
+ struct timer_config_t timer_cfg =
+ {
+ .timer_enable_irq = 0,
+ .timer_enable_encoder = 1,
+ .timer_enc_pin_mode = pull_up
- };
- timer_config(timer4, &timer_cfg);
- timer4init = true;
+ };
+ timer_config(timer4, &timer_cfg);
+ timer4init = true;
+ }
}
void timer_incremental_encoder_tim4_start()
@@ -55,8 +57,11 @@ void timer_incremental_encoder_tim4_start()
if (timer4started == false)
{
- timer_start(timer4);
- timer4started = true;
+ if (device_is_ready(timer4) == true)
+ {
+ timer_start(timer4);
+ timer4started = true;
+ }
}
}
diff --git a/zephyr/modules/owntech_hardware_configuration/zephyr/src/uart_configuration.cpp b/zephyr/modules/owntech_hardware_configuration/zephyr/src/uart_configuration.cpp
index 58f5462a2d3d642da0a30dd9de8fda2582144131..2c0fe7ffc73624448c06b8dbb8eccee1b73ca1c9 100644
--- a/zephyr/modules/owntech_hardware_configuration/zephyr/src/uart_configuration.cpp
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/src/uart_configuration.cpp
@@ -32,18 +32,20 @@
/////
-//USART 1 defines
+// USART 1 defines
+
#define CONFIG_OWNTECH_SERIAL_TX_BUF_SIZE 5
#define CONFIG_OWNTECH_SERIAL_RX_BUF_SIZE 5
#define USART1_DEVICE DT_PROP(DT_NODELABEL(usart1), label)
-static const struct device* uart_dev = NULL;
+static const struct device* uart_dev = DEVICE_DT_GET(DT_NODELABEL(usart1));
static char buf_req[CONFIG_OWNTECH_SERIAL_RX_BUF_SIZE];
static bool command_flag = false;
+/////
+// USART 1 private functions
-
-void _uart_usart1_process_input(const struct device *dev, void* user_data)
+static void _uart_usart1_process_input(const struct device *dev, void* user_data)
{
uint8_t c;
@@ -60,6 +62,9 @@ void _uart_usart1_process_input(const struct device *dev, void* user_data)
}
}
+/////
+// USART 1 public functions
+
void uart_usart1_init()
{
const struct uart_config usart1_config =
@@ -71,10 +76,12 @@ void uart_usart1_init()
.flow_ctrl = UART_CFG_FLOW_CTRL_NONE
};
- uart_dev = device_get_binding(USART1_DEVICE);
- uart_configure(uart_dev, &usart1_config);
- uart_irq_callback_user_data_set(uart_dev, _uart_usart1_process_input, NULL);
- uart_irq_rx_enable(uart_dev);
+ if (device_is_ready(uart_dev) == true)
+ {
+ uart_configure(uart_dev, &usart1_config);
+ uart_irq_callback_user_data_set(uart_dev, _uart_usart1_process_input, NULL);
+ uart_irq_rx_enable(uart_dev);
+ }
}
char uart_usart1_get_data()
@@ -89,7 +96,10 @@ char uart_usart1_get_data()
void uart_usart1_write_single(char data)
{
- uart_poll_out(uart_dev,data);
+ if (device_is_ready(uart_dev) == true)
+ {
+ uart_poll_out(uart_dev,data);
+ }
}
void uart_lpuart1_swap_rx_tx()
diff --git a/zephyr/modules/owntech_ngnd_driver/zephyr/public_api/ngnd.h b/zephyr/modules/owntech_ngnd_driver/zephyr/public_api/ngnd.h
index 5a5e89941ad5e1ae7219e7a6cfb4a63ab9439c48..3f230c2220fd701c360cb5fa24ad7f8e018703a3 100644
--- a/zephyr/modules/owntech_ngnd_driver/zephyr/public_api/ngnd.h
+++ b/zephyr/modules/owntech_ngnd_driver/zephyr/public_api/ngnd.h
@@ -40,7 +40,7 @@ extern "C" {
/////
// Public device name
-#define NGND_DEVICE DT_LABEL(DT_NODELABEL(ngnd))
+#define NGND_DEVICE DT_NODELABEL(ngnd)
/////
diff --git a/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.cpp b/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.cpp
index ed6186c52cf747776b34b073c0a4d3338461da8c..cc5777ca37ed85f6cc92358abe50e857c380d195 100644
--- a/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.cpp
+++ b/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.cpp
@@ -33,7 +33,7 @@
/////
// Static variables
-const struct device* Scheduling::timer6 = NULL;
+const struct device* Scheduling::timer6 = DEVICE_DT_GET(TIMER6_DEVICE);
const int Scheduling::DEFAULT_PRIORITY = 5;
@@ -68,10 +68,9 @@ void Scheduling::threadEntryPoint(void* thread_function_p, void*, void*)
void Scheduling::startControlTask(void (*periodic_task)(), uint32_t task_period_us)
{
- if (periodic_task != NULL)
+ if ( (periodic_task != NULL) && (device_is_ready(timer6) == true) )
{
- // Configure timer
- timer6 = device_get_binding(TIMER6_DEVICE);
+ // Configure and start timer
struct timer_config_t timer_cfg = {0};
timer_cfg.timer_enable_irq = 1;
diff --git a/zephyr/modules/owntech_timer_driver/zephyr/public_api/timer.h b/zephyr/modules/owntech_timer_driver/zephyr/public_api/timer.h
index 3957cebf14d20a345f80ab240cbeb0d67baa5896..f65f7a4bd85283adc1b1078abeadf65c7ccaea88 100644
--- a/zephyr/modules/owntech_timer_driver/zephyr/public_api/timer.h
+++ b/zephyr/modules/owntech_timer_driver/zephyr/public_api/timer.h
@@ -51,9 +51,9 @@ extern "C" {
/////
// Public devices names
-#define TIMER4_DEVICE DT_LABEL(DT_NODELABEL(timers4))
-#define TIMER6_DEVICE DT_LABEL(DT_NODELABEL(timers6))
-#define TIMER7_DEVICE DT_LABEL(DT_NODELABEL(timers7))
+#define TIMER4_DEVICE DT_NODELABEL(timers4)
+#define TIMER6_DEVICE DT_NODELABEL(timers6)
+#define TIMER7_DEVICE DT_NODELABEL(timers7)
/////