From b8a73032256182cf81cc09d084e29fff385a1d2b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Cl=C3=A9ment=20Foucher?= <cfoucher@laas.fr>
Date: Wed, 2 Mar 2022 10:08:24 +0000
Subject: [PATCH] Integrate hardware configuration as a module.
---
...n-standby-switch.yaml => gpio-device.yaml} | 8 +-
.../dts/bindings/ngnd-switch.yaml | 14 ---
.../owntech_board/dts/can-standby-switch.dtsi | 4 +-
zephyr/boards/arm/owntech_board/dts/ngnd.dtsi | 4 +-
.../boards/arm/owntech_board/dts/pinctrl.dtsi | 48 ----------
.../owntech_dac_driver/zephyr/CMakeLists.txt | 1 -
.../modules/owntech_dac_driver/zephyr/Kconfig | 1 +
.../zephyr/public_include/dac.h | 11 +--
.../zephyr/src/stm32_dac_driver.c | 11 ++-
.../zephyr/src/stm32_dac_driver.h | 3 +-
.../zephyr/CMakeLists.txt | 5 +-
.../owntech_data_acquisition/zephyr/Kconfig | 2 +-
.../zephyr/public_api/DataAcquisition.cpp | 58 ++++++++++-
.../zephyr/public_api/DataAcquisition.h | 48 +++++++---
.../zephyr/CMakeLists.txt | 17 ++++
.../zephyr/Kconfig | 6 ++
.../zephyr/module.yml | 2 +-
.../public_api/HardwareConfiguration.cpp | 96 +++++++++++++++++++
.../zephyr/public_api/HardwareConfiguration.h | 66 +++++++++++++
.../zephyr/src/dac_configuration.cpp} | 29 +-----
.../zephyr/src/dac_configuration.h | 33 +++++++
.../src/hardware_auto_configuration.cpp | 81 ++++++++++++++++
.../zephyr/src/led_configuration.cpp} | 62 +++++++-----
.../zephyr/src/led_configuration.h | 35 +++++++
.../zephyr/src/ngnd_configuration.cpp | 49 ++++++++++
.../zephyr/src/ngnd_configuration.h | 34 +++++++
.../zephyr/src/timer_configuration.cpp | 73 ++++++++++++++
.../zephyr/src/timer_configuration.h | 45 +++++++++
.../zephyr/src/owntech_ngnd_driver.c | 2 +-
.../zephyr/CMakeLists.txt | 8 --
.../owntech_vrefbuf_driver/zephyr/Kconfig | 3 -
zephyr/prj.conf | 2 +-
32 files changed, 700 insertions(+), 161 deletions(-)
rename zephyr/boards/arm/owntech_board/dts/bindings/{can-standby-switch.yaml => gpio-device.yaml} (65%)
delete mode 100644 zephyr/boards/arm/owntech_board/dts/bindings/ngnd-switch.yaml
create mode 100644 zephyr/modules/owntech_hardware_configuration/zephyr/CMakeLists.txt
create mode 100644 zephyr/modules/owntech_hardware_configuration/zephyr/Kconfig
rename zephyr/modules/{owntech_vrefbuf_driver => owntech_hardware_configuration}/zephyr/module.yml (56%)
create mode 100644 zephyr/modules/owntech_hardware_configuration/zephyr/public_api/HardwareConfiguration.cpp
create mode 100644 zephyr/modules/owntech_hardware_configuration/zephyr/public_api/HardwareConfiguration.h
rename zephyr/modules/{owntech_dac_driver/zephyr/src/owntech_dac_configure.c => owntech_hardware_configuration/zephyr/src/dac_configuration.cpp} (69%)
create mode 100644 zephyr/modules/owntech_hardware_configuration/zephyr/src/dac_configuration.h
create mode 100644 zephyr/modules/owntech_hardware_configuration/zephyr/src/hardware_auto_configuration.cpp
rename zephyr/modules/{owntech_vrefbuf_driver/zephyr/src/vrefbuf_driver.c => owntech_hardware_configuration/zephyr/src/led_configuration.cpp} (52%)
create mode 100644 zephyr/modules/owntech_hardware_configuration/zephyr/src/led_configuration.h
create mode 100644 zephyr/modules/owntech_hardware_configuration/zephyr/src/ngnd_configuration.cpp
create mode 100644 zephyr/modules/owntech_hardware_configuration/zephyr/src/ngnd_configuration.h
create mode 100644 zephyr/modules/owntech_hardware_configuration/zephyr/src/timer_configuration.cpp
create mode 100644 zephyr/modules/owntech_hardware_configuration/zephyr/src/timer_configuration.h
delete mode 100644 zephyr/modules/owntech_vrefbuf_driver/zephyr/CMakeLists.txt
delete mode 100644 zephyr/modules/owntech_vrefbuf_driver/zephyr/Kconfig
diff --git a/zephyr/boards/arm/owntech_board/dts/bindings/can-standby-switch.yaml b/zephyr/boards/arm/owntech_board/dts/bindings/gpio-device.yaml
similarity index 65%
rename from zephyr/boards/arm/owntech_board/dts/bindings/can-standby-switch.yaml
rename to zephyr/boards/arm/owntech_board/dts/bindings/gpio-device.yaml
index 09d9689..3dd17d6 100644
--- a/zephyr/boards/arm/owntech_board/dts/bindings/can-standby-switch.yaml
+++ b/zephyr/boards/arm/owntech_board/dts/bindings/gpio-device.yaml
@@ -1,11 +1,11 @@
-description: CAN Standby Switch
+description: GPIO-controllable device
-compatible: "can-standby-switch"
+compatible: "gpio-device"
child-binding:
- description: CAN Stanby GPIO node
+ description: GPIO node
properties:
- can-standby-gpios:
+ gpios:
type: phandle-array
required: true
label:
diff --git a/zephyr/boards/arm/owntech_board/dts/bindings/ngnd-switch.yaml b/zephyr/boards/arm/owntech_board/dts/bindings/ngnd-switch.yaml
deleted file mode 100644
index 59ffafc..0000000
--- a/zephyr/boards/arm/owntech_board/dts/bindings/ngnd-switch.yaml
+++ /dev/null
@@ -1,14 +0,0 @@
-description: Neutral-Ground Switch
-
-compatible: "ngnd-switch"
-
-child-binding:
- description: Neutral-Ground GPIO node
- properties:
- ngnd-gpios:
- type: phandle-array
- required: true
- label:
- required: true
- type: string
- description: Human readable string describing the device (used as device_get_binding() argument)
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 7da3f81..5185624 100644
--- a/zephyr/boards/arm/owntech_board/dts/can-standby-switch.dtsi
+++ b/zephyr/boards/arm/owntech_board/dts/can-standby-switch.dtsi
@@ -6,10 +6,10 @@
/ {
can-standby-switch {
- compatible = "can-standby-switch";
+ compatible = "gpio-device";
label = "CAN_STANDBY";
can-standby-gpio-pin {
- can-standby-gpios = <&gpiob 10 GPIO_ACTIVE_HIGH>;
+ 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 44a3852..09a0e48 100644
--- a/zephyr/boards/arm/owntech_board/dts/ngnd.dtsi
+++ b/zephyr/boards/arm/owntech_board/dts/ngnd.dtsi
@@ -6,10 +6,10 @@
/ {
ngnd: ngnd-switch {
- compatible = "ngnd-switch";
+ compatible = "gpio-device";
label = "NGND";
ngnd-gpio-pin {
- ngnd-gpios = <&gpiob 11 GPIO_ACTIVE_HIGH>;
+ gpios = <&gpiob 11 GPIO_ACTIVE_HIGH>;
label = "Neutral to GND shunt";
};
};
diff --git a/zephyr/boards/arm/owntech_board/dts/pinctrl.dtsi b/zephyr/boards/arm/owntech_board/dts/pinctrl.dtsi
index 9cdc791..421ef4f 100644
--- a/zephyr/boards/arm/owntech_board/dts/pinctrl.dtsi
+++ b/zephyr/boards/arm/owntech_board/dts/pinctrl.dtsi
@@ -7,54 +7,6 @@
/ {
soc {
pinctrl: pin-controller@48000000 {
- hrtim1_cha1_pa8: hrtim1_cha1_pa8 {
- pinmux = <STM32_PINMUX('A', 8, AF13)>;
- };
-
- hrtim1_cha2_pa9: hrtim1_cha2_pa9 {
- pinmux = <STM32_PINMUX('A', 9, AF13)>;
- };
-
- hrtim1_chb1_pa10: hrtim1_chb1_pa10 {
- pinmux = <STM32_PINMUX('A', 10, AF13)>;
- };
-
- hrtim1_chb2_pa11: hrtim1_chb2_pa11 {
- pinmux = <STM32_PINMUX('A', 11, AF13)>;
- };
-
- hrtim1_chc1_pb12: hrtim1_chc1_pb12 {
- pinmux = <STM32_PINMUX('B', 12, AF13)>;
- };
-
- hrtim1_chc2_pb13: hrtim1_chc2_pb13 {
- pinmux = <STM32_PINMUX('B', 13, AF13)>;
- };
-
- hrtim1_chd1_pb14: hrtim1_chd1_pb14 {
- pinmux = <STM32_PINMUX('B', 14, AF13)>;
- };
-
- hrtim1_chd2_pb15: hrtim1_chd2_pb15 {
- pinmux = <STM32_PINMUX('B', 15, AF13)>;
- };
-
- hrtim1_che1_pc8: hrtim1_che1_pc8 {
- pinmux = <STM32_PINMUX('C', 8, AF3)>;
- };
-
- hrtim1_che2_pc9: hrtim1_che2_pc9 {
- pinmux = <STM32_PINMUX('C', 9, AF3)>;
- };
-
- hrtim1_chf1_pc6: hrtim1_chf1_pc6 {
- pinmux = <STM32_PINMUX('C', 6, AF13)>;
- };
-
- hrtim1_chf2_pc7: hrtim1_chf2_pc7 {
- pinmux = <STM32_PINMUX('C', 7, AF13)>;
- };
-
tim4_etr_pb3: tim4_etr_pb3 {
pinmux = <STM32_PINMUX('B', 3, AF2)>;
};
diff --git a/zephyr/modules/owntech_dac_driver/zephyr/CMakeLists.txt b/zephyr/modules/owntech_dac_driver/zephyr/CMakeLists.txt
index ca08a94..b18b1ec 100644
--- a/zephyr/modules/owntech_dac_driver/zephyr/CMakeLists.txt
+++ b/zephyr/modules/owntech_dac_driver/zephyr/CMakeLists.txt
@@ -6,6 +6,5 @@ if(CONFIG_OWNTECH_DAC_DRIVER)
# Select source files to be compiled
zephyr_library_sources(
./src/stm32_dac_driver.c
- ./src/owntech_dac_configure.c
)
endif()
diff --git a/zephyr/modules/owntech_dac_driver/zephyr/Kconfig b/zephyr/modules/owntech_dac_driver/zephyr/Kconfig
index d1474cf..cd7ea23 100644
--- a/zephyr/modules/owntech_dac_driver/zephyr/Kconfig
+++ b/zephyr/modules/owntech_dac_driver/zephyr/Kconfig
@@ -1,3 +1,4 @@
config OWNTECH_DAC_DRIVER
bool "Enable OwnTech DAC driver"
default y
+ depends on !DAC
diff --git a/zephyr/modules/owntech_dac_driver/zephyr/public_include/dac.h b/zephyr/modules/owntech_dac_driver/zephyr/public_include/dac.h
index cc1c8c6..713f612 100644
--- a/zephyr/modules/owntech_dac_driver/zephyr/public_include/dac.h
+++ b/zephyr/modules/owntech_dac_driver/zephyr/public_include/dac.h
@@ -64,10 +64,10 @@ typedef struct
uint32_t step_data;
} dac_function_config_t;
-typedef struct
+typedef enum
{
- uint32_t pin_connect;
- uint32_t pin_buffer_enable;
+ dac_pin_internal,
+ dac_pin_external
} dac_pin_config_t;
@@ -78,7 +78,7 @@ typedef void (*dac_api_setconstvalue) (const struct device* dev, uint8_t channel
typedef void (*dac_api_setfunction) (const struct device* dev, uint8_t channel, const dac_function_config_t* config);
typedef void (*dac_api_fn_upd_reset) (const struct device* dev, uint8_t channel, uint32_t reset_data);
typedef void (*dac_api_fn_upd_step) (const struct device* dev, uint8_t channel, uint32_t step_data);
-typedef void (*dac_api_pinconfigure) (const struct device* dev, uint8_t channel, const dac_pin_config_t* config);
+typedef void (*dac_api_pinconfigure) (const struct device* dev, uint8_t channel, dac_pin_config_t config);
typedef void (*dac_api_start) (const struct device* dev, uint8_t channel);
typedef void (*dac_api_stop) (const struct device* dev, uint8_t channel);
@@ -121,7 +121,7 @@ static inline void dac_function_update_step(const struct device* dev, uint8_t ch
api->fn_upd_step(dev, channel, step_data);
}
-static inline void dac_pin_configure(const struct device* dev, uint8_t channel, const dac_pin_config_t* pin_config)
+static inline void dac_pin_configure(const struct device* dev, uint8_t channel, dac_pin_config_t pin_config)
{
const struct dac_driver_api* api = (const struct dac_driver_api*)(dev->api);
@@ -145,7 +145,6 @@ static inline void dac_stop(const struct device* dev, uint8_t channel)
/////
// Owntech-specific config
-void owntech_dac_dac2_constant_init();
void owntech_dac_dac1_dac3_current_mode_init();
diff --git a/zephyr/modules/owntech_dac_driver/zephyr/src/stm32_dac_driver.c b/zephyr/modules/owntech_dac_driver/zephyr/src/stm32_dac_driver.c
index 43c4a42..d6005ca 100644
--- a/zephyr/modules/owntech_dac_driver/zephyr/src/stm32_dac_driver.c
+++ b/zephyr/modules/owntech_dac_driver/zephyr/src/stm32_dac_driver.c
@@ -183,14 +183,21 @@ static void dac_stm32_function_update_step(const struct device* dev, uint8_t cha
}
}
-static void dac_stm32_pin_configure(const struct device* dev, uint8_t channel, const dac_pin_config_t* pin_config)
+static void dac_stm32_pin_configure(const struct device* dev, uint8_t channel, dac_pin_config_t pin_config)
{
struct stm32_dac_driver_data* data = (struct stm32_dac_driver_data*)dev->data;
DAC_TypeDef* dac_dev = data->dac_struct;
uint8_t dac_channel = __LL_DAC_DECIMAL_NB_TO_CHANNEL(channel);
- LL_DAC_ConfigOutput(dac_dev, dac_channel, LL_DAC_OUTPUT_MODE_NORMAL, pin_config->pin_buffer_enable, pin_config->pin_connect);
+ if (pin_config == dac_pin_internal)
+ {
+ LL_DAC_ConfigOutput(dac_dev, dac_channel, LL_DAC_OUTPUT_MODE_NORMAL, LL_DAC_OUTPUT_BUFFER_DISABLE, LL_DAC_OUTPUT_CONNECT_INTERNAL);
+ }
+ else if (pin_config == dac_pin_external)
+ {
+ LL_DAC_ConfigOutput(dac_dev, dac_channel, LL_DAC_OUTPUT_MODE_NORMAL, LL_DAC_OUTPUT_BUFFER_ENABLE, LL_DAC_OUTPUT_CONNECT_GPIO);
+ }
}
static void dac_stm32_start(const struct device* dev, uint8_t channel)
diff --git a/zephyr/modules/owntech_dac_driver/zephyr/src/stm32_dac_driver.h b/zephyr/modules/owntech_dac_driver/zephyr/src/stm32_dac_driver.h
index e467713..376473a 100644
--- a/zephyr/modules/owntech_dac_driver/zephyr/src/stm32_dac_driver.h
+++ b/zephyr/modules/owntech_dac_driver/zephyr/src/stm32_dac_driver.h
@@ -50,7 +50,6 @@ typedef enum
dac_mode_function
} dac_mode_t;
-
struct stm32_dac_driver_data
{
DAC_TypeDef* dac_struct;
@@ -70,7 +69,7 @@ static void dac_stm32_set_const_value(const struct device* dev, uint8_t channel,
static void dac_stm32_set_function(const struct device* dev, uint8_t channel, const dac_function_config_t* function_config);
static void dac_stm32_function_update_reset(const struct device* dev, uint8_t channel, uint32_t reset_data);
static void dac_stm32_function_update_step(const struct device* dev, uint8_t channel, uint32_t step_data);
-static void dac_stm32_pin_configure(const struct device* dev, uint8_t channel, const dac_pin_config_t* pin_config);
+static void dac_stm32_pin_configure(const struct device* dev, uint8_t channel, dac_pin_config_t pin_config);
static void dac_stm32_start(const struct device* dev, uint8_t channel);
static void dac_stm32_stop(const struct device* dev, uint8_t channel);
diff --git a/zephyr/modules/owntech_data_acquisition/zephyr/CMakeLists.txt b/zephyr/modules/owntech_data_acquisition/zephyr/CMakeLists.txt
index 8856c5c..862d127 100644
--- a/zephyr/modules/owntech_data_acquisition/zephyr/CMakeLists.txt
+++ b/zephyr/modules/owntech_data_acquisition/zephyr/CMakeLists.txt
@@ -1,8 +1,11 @@
-
if(CONFIG_OWNTECH_DATA_ACQUISITION)
+ # Select directory to add to the include path
zephyr_include_directories(./public_api)
+ # Define the current folder as a Zephyr library
zephyr_library()
+
+ # Select source files to be compiled
zephyr_library_sources(
./adc/adc.c
./adc/adc_channels.c
diff --git a/zephyr/modules/owntech_data_acquisition/zephyr/Kconfig b/zephyr/modules/owntech_data_acquisition/zephyr/Kconfig
index 01b77a2..3265b02 100644
--- a/zephyr/modules/owntech_data_acquisition/zephyr/Kconfig
+++ b/zephyr/modules/owntech_data_acquisition/zephyr/Kconfig
@@ -1,5 +1,5 @@
-
config OWNTECH_DATA_ACQUISITION
bool "Enable OwnTech data acquisition using ADCs"
default y
select DMA
+ depends on !ADC
diff --git a/zephyr/modules/owntech_data_acquisition/zephyr/public_api/DataAcquisition.cpp b/zephyr/modules/owntech_data_acquisition/zephyr/public_api/DataAcquisition.cpp
index f6be5a4..aac77f1 100644
--- a/zephyr/modules/owntech_data_acquisition/zephyr/public_api/DataAcquisition.cpp
+++ b/zephyr/modules/owntech_data_acquisition/zephyr/public_api/DataAcquisition.cpp
@@ -27,6 +27,9 @@
// Stdlib
#include <string.h>
+// STM32 LL
+#include <stm32g4xx_ll_adc.h>
+
// OwnTech Power API
#include "../adc/adc.h"
#include "../dma/dma.h"
@@ -67,8 +70,14 @@ void DataAcquisition::initialize()
{
if (initialized == 0)
{
+ // Initialize the ADCs
adc_init();
initialized = 1;
+
+ // Perform default configration
+ configureAdcTriggerSource(1, hrtim1);
+ configureAdcTriggerSource(2, hrtim1);
+ configureAdcTriggerSource(3, software);
}
}
@@ -115,7 +124,7 @@ void DataAcquisition::setChannnelAssignment(uint8_t adc_number, const char* cha
/////
// Public static configuration functions
-int8_t DataAcquisition::setAdc12DualMode(uint8_t dual_mode)
+int8_t DataAcquisition::configureAdc12DualMode(uint8_t dual_mode)
{
/////
// Guard
@@ -179,7 +188,7 @@ int8_t DataAcquisition::configureAdcChannels(uint8_t adc_number, const char* cha
return NOERROR;
}
-int8_t DataAcquisition::configureAdcTriggerSource(uint8_t adc_number, uint32_t trigger_source)
+int8_t DataAcquisition::configureAdcTriggerSource(uint8_t adc_number, adc_src_t trigger_source)
{
/////
// Guard
@@ -199,12 +208,55 @@ int8_t DataAcquisition::configureAdcTriggerSource(uint8_t adc_number, uint32_t t
/////
// Proceed
+ uint32_t trig;
+ switch (trigger_source)
+ {
+ case hrtim1:
+ trig = LL_ADC_REG_TRIG_EXT_HRTIM_TRG1;
+ break;
+ case software:
+ default:
+ trig = LL_ADC_REG_TRIG_SOFTWARE;
+ break;
+ }
- adc_configure_trigger_source(adc_number, trigger_source);
+ adc_configure_trigger_source(adc_number, trig);
return NOERROR;
}
+int8_t DataAcquisition::configureAdcDefaultAllMeasurements()
+{
+ uint8_t init_status;
+
+ uint8_t number_of_channels_adc1 = 3;
+ uint8_t number_of_channels_adc2 = 3;
+
+ const char* adc1_channels[] =
+ {
+ "V1_LOW",
+ "V2_LOW",
+ "V_HIGH"
+ };
+
+ const char* adc2_channels[] =
+ {
+ "I1_LOW",
+ "I2_LOW",
+ "I_HIGH"
+ };
+
+ init_status = dataAcquisition.configureAdcChannels(1, adc1_channels, number_of_channels_adc1);
+
+ if (init_status != NOERROR)
+ {
+ return init_status;
+ }
+
+ init_status = dataAcquisition.configureAdcChannels(2, adc2_channels, number_of_channels_adc2);
+
+ return NOERROR;
+}
int8_t DataAcquisition::start()
{
diff --git a/zephyr/modules/owntech_data_acquisition/zephyr/public_api/DataAcquisition.h b/zephyr/modules/owntech_data_acquisition/zephyr/public_api/DataAcquisition.h
index 65f0c41..06a4722 100644
--- a/zephyr/modules/owntech_data_acquisition/zephyr/public_api/DataAcquisition.h
+++ b/zephyr/modules/owntech_data_acquisition/zephyr/public_api/DataAcquisition.h
@@ -34,6 +34,15 @@
#include <arm_math.h>
+/////
+// Public enums
+typedef enum
+{
+ hrtim1,
+ software
+} adc_src_t;
+
+
/////
// Static class definition
@@ -56,21 +65,23 @@ public:
/**
* Use this function to set ADC 1 and ADC 2 in dual mode.
+ * By default, ADC 1 and 2 are not in dual mode.
*
- * This function must be called BEFORE DataAcquisition::start().
+ * This function must be called BEFORE dataAcquisition.start().
*
- * @param dual_mode Status of the dual mode: true to enable,
- * false to disable. false by default.
+ * @param dual_mode Status of the dual mode:
+ * true to enable,
+ * false to disable.
* @return 0 is everything went well,
* EALREADYSTARTED if the module has already been started.
*/
- static int8_t setAdc12DualMode(uint8_t dual_mode);
+ static int8_t configureAdc12DualMode(uint8_t dual_mode);
/**
* This function is used to configure the channels to be
* enabled on a given ADC.
*
- * This function must be called BEFORE DataAcquisition::start().
+ * This function must be called BEFORE dataAcquisition.start().
*
* @param adc_number Number of the ADC on which channel configuration is
* to be done.
@@ -88,19 +99,32 @@ public:
static int8_t configureAdcChannels(uint8_t adc_number, const char* channel_list[], uint8_t channel_count);
/**
- * This function is used to configure the trigger source of an ADC.
- *
- * This function must be called BEFORE DataAcquisition::start().
+ * This function is used to change the trigger source of an ADC.
+ * By default, triggger source for ADC 1 and ADC 2 is on HRTIM1,
+ * and ADC 3 is software-triggered.
*
- * TODO: Use an enumeration instead of LL constants for source.
+ * This function must be called BEFORE dataAcquisition.start().
*
* @param adc_number Number of the ADC to configure
- * @param trigger_source Source of the trigger as defined
- * in stm32gxx_ll_adc.h (LL_ADC_REG_TRIG_***)
+ * @param trigger_source Source of the trigger
+ * @return 0 is everything went well,
+ * EALREADYSTARTED if the module has already been started.
+ */
+ static int8_t configureAdcTriggerSource(uint8_t adc_number, adc_src_t trigger_source);
+
+ /**
+ * This function is used to configure all ADC channels in default configuration.
+ * Channels will be attributed as follows:
+ * ADC1 - V1_LOW ADC2 - I1_LOW
+ * V2_LOW I2_LOW
+ * V_HIGH I_HIGH
+ *
+ * This function must be called BEFORE dataAcquisition.start().
+ *
* @return 0 is everything went well,
* EALREADYSTARTED if the module has already been started.
*/
- static int8_t configureAdcTriggerSource(uint8_t adc_number, uint32_t trigger_source);
+ static int8_t configureAdcDefaultAllMeasurements();
/**
* This functions starts the acquisition chain. It must be called
diff --git a/zephyr/modules/owntech_hardware_configuration/zephyr/CMakeLists.txt b/zephyr/modules/owntech_hardware_configuration/zephyr/CMakeLists.txt
new file mode 100644
index 0000000..b525d58
--- /dev/null
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/CMakeLists.txt
@@ -0,0 +1,17 @@
+if(CONFIG_OWNTECH_HARDWARE_CONFIGURATION)
+ # Select directory to add to the include path
+ zephyr_include_directories(./public_api)
+
+ # Define the current folder as a Zephyr library
+ zephyr_library()
+
+ # Select source files to be compiled
+ zephyr_library_sources(
+ src/hardware_auto_configuration.cpp
+ src/dac_configuration.cpp
+ src/ngnd_configuration.cpp
+ src/led_configuration.cpp
+ src/timer_configuration.cpp
+ public_api/HardwareConfiguration.cpp
+ )
+endif()
diff --git a/zephyr/modules/owntech_hardware_configuration/zephyr/Kconfig b/zephyr/modules/owntech_hardware_configuration/zephyr/Kconfig
new file mode 100644
index 0000000..5793393
--- /dev/null
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/Kconfig
@@ -0,0 +1,6 @@
+config OWNTECH_HARDWARE_CONFIGURATION
+ bool "Enable OwnTech hardware configuration module"
+ default y
+ depends on OWNTECH_DAC_DRIVER
+ depends on OWNTECH_NGND_DRIVER
+ depends on OWNTECH_TIMER_DRIVER
diff --git a/zephyr/modules/owntech_vrefbuf_driver/zephyr/module.yml b/zephyr/modules/owntech_hardware_configuration/zephyr/module.yml
similarity index 56%
rename from zephyr/modules/owntech_vrefbuf_driver/zephyr/module.yml
rename to zephyr/modules/owntech_hardware_configuration/zephyr/module.yml
index dd0020e..43a6a19 100644
--- a/zephyr/modules/owntech_vrefbuf_driver/zephyr/module.yml
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/module.yml
@@ -1,4 +1,4 @@
-name: owntech_vrefbuf_driver
+name: owntech_hardware_configuration
build:
cmake: zephyr
kconfig: zephyr/Kconfig
diff --git a/zephyr/modules/owntech_hardware_configuration/zephyr/public_api/HardwareConfiguration.cpp b/zephyr/modules/owntech_hardware_configuration/zephyr/public_api/HardwareConfiguration.cpp
new file mode 100644
index 0000000..6c76638
--- /dev/null
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/public_api/HardwareConfiguration.cpp
@@ -0,0 +1,96 @@
+/*
+ * Copyright (c) 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
+ * 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
+ */
+
+/**
+ * @date 2022
+ * @author Clément Foucher <clement.foucher@laas.fr>
+ */
+
+
+// OwnTech headers
+#include "../src/dac_configuration.h"
+#include "../src/ngnd_configuration.h"
+#include "../src/led_configuration.h"
+#include "../src/timer_configuration.h"
+
+// Current class header
+#include "HardwareConfiguration.h"
+
+
+/////
+// Public object to interact with the class
+
+HardwareConfiguration hwConfig;
+
+
+/////
+// Public static configuration functions
+
+
+/////
+// DAC
+
+void HardwareConfiguration::initDac1Dac3CurrentMode()
+{
+ dac_config_dac1_dac3_current_mode_init();
+}
+
+
+/////
+// NGND
+
+void HardwareConfiguration::setNgndOn()
+{
+ ngnd_config_on();
+}
+
+void HardwareConfiguration::setNgndOff()
+{
+ ngnd_config_off();
+}
+
+/////
+// LED
+
+void HardwareConfiguration::setLedOn()
+{
+ led_config_on();
+}
+
+void HardwareConfiguration::setLedOff()
+{
+ led_config_off();
+}
+
+void HardwareConfiguration::setLedToggle()
+{
+ led_config_toggle();
+}
+
+// Incremental encoder
+
+void HardwareConfiguration::startLoggingIncrementalEncoder()
+{
+ timer_incremental_encoder_tim4_start();
+}
+
+uint32_t HardwareConfiguration::getIncrementalEncoderValue()
+{
+ return timer_incremental_encoder_tim4_get_step();
+}
diff --git a/zephyr/modules/owntech_hardware_configuration/zephyr/public_api/HardwareConfiguration.h b/zephyr/modules/owntech_hardware_configuration/zephyr/public_api/HardwareConfiguration.h
new file mode 100644
index 0000000..d393536
--- /dev/null
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/public_api/HardwareConfiguration.h
@@ -0,0 +1,66 @@
+/*
+ * Copyright (c) 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
+ * 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
+ */
+
+/**
+ * @date 2022
+ * @author Clément Foucher <clement.foucher@laas.fr>
+ */
+
+
+#ifndef HARDWARECONFIGURATION_H_
+#define HARDWARECONFIGURATION_H_
+
+
+#include <stdint.h>
+
+
+/////
+// Static class definition
+
+class HardwareConfiguration
+{
+
+public:
+ // DAC
+ void initDac1Dac3CurrentMode();
+
+ // NGND
+ void setNgndOn();
+ void setNgndOff();
+
+ // LED
+ void setLedOn();
+ void setLedOff();
+ void setLedToggle();
+
+ // Incremental encoder
+ void startLoggingIncrementalEncoder();
+ uint32_t getIncrementalEncoderValue();
+
+};
+
+
+/////
+// Public object to interact with the class
+
+extern HardwareConfiguration hwConfig;
+
+
+
+#endif // HARDWARECONFIGURATION_H_
diff --git a/zephyr/modules/owntech_dac_driver/zephyr/src/owntech_dac_configure.c b/zephyr/modules/owntech_hardware_configuration/zephyr/src/dac_configuration.cpp
similarity index 69%
rename from zephyr/modules/owntech_dac_driver/zephyr/src/owntech_dac_configure.c
rename to zephyr/modules/owntech_hardware_configuration/zephyr/src/dac_configuration.cpp
index c731101..cf19771 100644
--- a/zephyr/modules/owntech_dac_driver/zephyr/src/owntech_dac_configure.c
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/src/dac_configuration.cpp
@@ -19,7 +19,6 @@
/**
* @date 2022
- *
* @author Clément Foucher <clement.foucher@laas.fr>
*/
@@ -34,24 +33,8 @@
#include "dac.h"
-// TODO: this function must *always* be run.
-// Write a driver to load on startup without user action?
-void owntech_dac_dac2_constant_init()
-{
- const struct device* dac2 = device_get_binding(DAC2_DEVICE);
-
- dac_pin_config_t pin_config =
- {
- .pin_connect = LL_DAC_OUTPUT_CONNECT_GPIO,
- .pin_buffer_enable = LL_DAC_OUTPUT_BUFFER_ENABLE
- };
-
- dac_set_const_value(dac2, 1, 2048U);
- dac_pin_configure(dac2, 1, &pin_config);
- dac_start(dac2, 1);
-}
-void owntech_dac_dac1_dac3_current_mode_init()
+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);
@@ -66,15 +49,9 @@ void owntech_dac_dac1_dac3_current_mode_init()
.step_data = 200
};
- dac_pin_config_t pin_config =
- {
- .pin_connect = LL_DAC_OUTPUT_CONNECT_INTERNAL,
- .pin_buffer_enable = LL_DAC_OUTPUT_BUFFER_DISABLE
- };
-
// DAC 1
dac_set_function(dac1, 1, &function_config);
- dac_pin_configure(dac1, 1, &pin_config);
+ dac_pin_configure(dac1, 1, dac_pin_internal);
dac_start(dac1, 1);
// DAC 3
@@ -82,6 +59,6 @@ void owntech_dac_dac1_dac3_current_mode_init()
function_config.step_trigger_source = LL_DAC_TRIG_EXT_HRTIM_STEP_TRG2;
dac_set_function(dac3, 1, &function_config);
- dac_pin_configure(dac3, 1, &pin_config);
+ dac_pin_configure(dac3, 1, dac_pin_internal);
dac_start(dac3, 1);
}
diff --git a/zephyr/modules/owntech_hardware_configuration/zephyr/src/dac_configuration.h b/zephyr/modules/owntech_hardware_configuration/zephyr/src/dac_configuration.h
new file mode 100644
index 0000000..fcd827e
--- /dev/null
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/src/dac_configuration.h
@@ -0,0 +1,33 @@
+/*
+ * Copyright (c) 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
+ * 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
+ */
+
+/**
+ * @date 2022
+ * @author Clément Foucher <clement.foucher@laas.fr>
+ */
+
+
+#ifndef DAC_CONFIGURATION_H_
+#define DAC_CONFIGURATION_H_
+
+
+void dac_config_dac1_dac3_current_mode_init();
+
+
+#endif // DAC_CONFIGURATION_H_
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
new file mode 100644
index 0000000..d9167c8
--- /dev/null
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/src/hardware_auto_configuration.cpp
@@ -0,0 +1,81 @@
+/*
+ * Copyright (c) 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
+ * 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
+ */
+
+/**
+ * @date 2022
+ * @author Clément Foucher <clement.foucher@laas.fr>
+ *
+ * @brief This file automatically performs some hardware configuration
+ * using Zephyr macros.
+ * Configuration done in this file is low-level peripheral configuration
+ * required for OwnTech board to operate, do not mess with it unless you
+ * are absolutely sure of what you're doing.
+ * This file does not contain any public function.
+ */
+
+
+// Zephyr
+#include <zephyr.h>
+#include <device.h>
+
+// STM32 LL
+#include <stm32_ll_bus.h>
+#include <stm32_ll_system.h>
+
+// Owntech driver
+#include "dac.h"
+
+
+/////
+// Functions to be run
+
+static int _vrefbuf_init(const struct device* dev)
+{
+ LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_SYSCFG);
+ LL_VREFBUF_SetVoltageScaling(LL_VREFBUF_VOLTAGE_SCALE0);
+ LL_VREFBUF_DisableHIZ();
+ LL_VREFBUF_Enable();
+
+ return 0;
+}
+
+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);
+
+ return 0;
+}
+
+
+/////
+// Zephyr macros to automatically run above functions
+
+SYS_INIT(_vrefbuf_init,
+ PRE_KERNEL_1, // To be run in the first init phase
+ CONFIG_KERNEL_INIT_PRIORITY_DEVICE
+ );
+
+SYS_INIT(_dac2_init,
+ PRE_KERNEL_2, // To be run in the second init phase (depends on DAC driver initialization)
+ CONFIG_KERNEL_INIT_PRIORITY_DEVICE
+ );
diff --git a/zephyr/modules/owntech_vrefbuf_driver/zephyr/src/vrefbuf_driver.c b/zephyr/modules/owntech_hardware_configuration/zephyr/src/led_configuration.cpp
similarity index 52%
rename from zephyr/modules/owntech_vrefbuf_driver/zephyr/src/vrefbuf_driver.c
rename to zephyr/modules/owntech_hardware_configuration/zephyr/src/led_configuration.cpp
index c2064ae..cc637d8 100644
--- a/zephyr/modules/owntech_vrefbuf_driver/zephyr/src/vrefbuf_driver.c
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/src/led_configuration.cpp
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2021 LAAS-CNRS
+ * Copyright (c) 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
@@ -18,36 +18,52 @@
*/
/**
- * @author Clément Foucher <clement.foucher@laas.fr>
+ * @date 2022
+ * @author Clément Foucher <clement.foucher@laas.fr>
*/
// Zephyr
-#include <zephyr.h>
-#include <device.h>
+#include "zephyr.h"
+#include "drivers/gpio.h"
-// STM32 LL
-#include "stm32_ll_bus.h"
-#include "stm32_ll_system.h"
+static struct gpio_dt_spec led_pin_spec = GPIO_DT_SPEC_GET(DT_ALIAS(led0), gpios);
+static bool init = false;
-static int vrefbuf_init(const struct device* dev)
+
+void led_config_init()
+{
+ gpio_pin_configure_dt(&led_pin_spec, GPIO_OUTPUT_ACTIVE);
+ init = true;
+}
+
+void led_config_on()
{
- LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_SYSCFG);
- LL_VREFBUF_SetVoltageScaling(LL_VREFBUF_VOLTAGE_SCALE0);
- LL_VREFBUF_DisableHIZ();
- LL_VREFBUF_Enable();
+ if (init == false)
+ {
+ led_config_init();
+ }
- return 0;
+ gpio_pin_set_dt(&led_pin_spec, 1);
}
-DEVICE_DEFINE(vrefbuf_driver,
- "vrefbuf_driver",
- vrefbuf_init,
- NULL,
- NULL,
- NULL,
- PRE_KERNEL_1,
- CONFIG_KERNEL_INIT_PRIORITY_DEVICE,
- NULL
- );
+void led_config_off()
+{
+ if (init == false)
+ {
+ led_config_init();
+ }
+
+ gpio_pin_set_dt(&led_pin_spec, 0);
+}
+
+void led_config_toggle()
+{
+ if (init == false)
+ {
+ led_config_init();
+ }
+
+ gpio_pin_toggle_dt(&led_pin_spec);
+}
diff --git a/zephyr/modules/owntech_hardware_configuration/zephyr/src/led_configuration.h b/zephyr/modules/owntech_hardware_configuration/zephyr/src/led_configuration.h
new file mode 100644
index 0000000..17e65a7
--- /dev/null
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/src/led_configuration.h
@@ -0,0 +1,35 @@
+/*
+ * Copyright (c) 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
+ * 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
+ */
+
+/**
+ * @date 2022
+ * @author Clément Foucher <clement.foucher@laas.fr>
+ */
+
+
+#ifndef LED_CONFIGURATION_H_
+#define LED_CONFIGURATION_H_
+
+
+void led_config_on();
+void led_config_off();
+void led_config_toggle();
+
+
+#endif // LED_CONFIGURATION_H_
diff --git a/zephyr/modules/owntech_hardware_configuration/zephyr/src/ngnd_configuration.cpp b/zephyr/modules/owntech_hardware_configuration/zephyr/src/ngnd_configuration.cpp
new file mode 100644
index 0000000..0d6efc6
--- /dev/null
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/src/ngnd_configuration.cpp
@@ -0,0 +1,49 @@
+/*
+ * Copyright (c) 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
+ * 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
+ */
+
+/**
+ * @date 2022
+ * @author Clément Foucher <clement.foucher@laas.fr>
+ */
+
+
+#include "ngnd.h"
+
+static const struct device* ngnd_switch = nullptr;
+
+
+void ngnd_config_on()
+{
+ if (ngnd_switch == NULL)
+ {
+ ngnd_switch = device_get_binding(NGND_DEVICE);
+ }
+
+ ngnd_set(ngnd_switch, 1);
+}
+
+void ngnd_config_off()
+{
+ if (ngnd_switch == NULL)
+ {
+ ngnd_switch = device_get_binding(NGND_DEVICE);
+ }
+
+ ngnd_set(ngnd_switch, 0);
+}
diff --git a/zephyr/modules/owntech_hardware_configuration/zephyr/src/ngnd_configuration.h b/zephyr/modules/owntech_hardware_configuration/zephyr/src/ngnd_configuration.h
new file mode 100644
index 0000000..4fb2726
--- /dev/null
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/src/ngnd_configuration.h
@@ -0,0 +1,34 @@
+/*
+ * Copyright (c) 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
+ * 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
+ */
+
+/**
+ * @date 2022
+ * @author Clément Foucher <clement.foucher@laas.fr>
+ */
+
+
+#ifndef NGND_CONFIGURATION_H_
+#define NGND_CONFIGURATION_H_
+
+
+void ngnd_config_on();
+void ngnd_config_off();
+
+
+#endif // NGND_CONFIGURATION_H_
diff --git a/zephyr/modules/owntech_hardware_configuration/zephyr/src/timer_configuration.cpp b/zephyr/modules/owntech_hardware_configuration/zephyr/src/timer_configuration.cpp
new file mode 100644
index 0000000..3fa04a6
--- /dev/null
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/src/timer_configuration.cpp
@@ -0,0 +1,73 @@
+/*
+ * Copyright (c) 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
+ * 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
+ */
+
+/**
+ * @date 2022
+ * @author Clément Foucher <clement.foucher@laas.fr>
+ */
+
+#include "timer.h"
+
+
+static const struct device* timer4 = NULL;
+
+static bool timer4init = false;
+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 =
+ {
+ .timer_enable_irq = 0,
+ .timer_enable_encoder = 1,
+ .timer_enc_pin_mode = pull_up
+
+ };
+ timer_config(timer4, &timer_cfg);
+ timer4init = true;
+}
+
+void timer_incremental_encoder_tim4_start()
+{
+ if (timer4init == false)
+ {
+ _timer_incremental_encoder_tim4_init();
+ }
+
+ if (timer4started == false)
+ {
+ timer_start(timer4);
+ timer4started = true;
+ }
+}
+
+uint32_t timer_incremental_encoder_tim4_get_step()
+{
+ if (timer4started == true)
+ {
+ return timer_get_count(timer4);
+ }
+ else
+ {
+ return 0;
+ }
+}
diff --git a/zephyr/modules/owntech_hardware_configuration/zephyr/src/timer_configuration.h b/zephyr/modules/owntech_hardware_configuration/zephyr/src/timer_configuration.h
new file mode 100644
index 0000000..f29360d
--- /dev/null
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/src/timer_configuration.h
@@ -0,0 +1,45 @@
+/*
+ * Copyright (c) 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
+ * 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
+ */
+
+/**
+ * @date 2022
+ * @author Clément Foucher <clement.foucher@laas.fr>
+ */
+
+
+#ifndef TIMER_CONFIGURATION_H_
+#define TIMER_CONFIGURATION_H_
+
+
+#include <stdint.h>
+
+
+/**
+ * @brief Launches the timer4 which is adapted for reading an encoder.
+ */
+void timer_incremental_encoder_tim4_start();
+
+/**
+ * @brief Gets the encoder step value.
+ * @return An uint32 value of the counter which corresponds to the step of the system.
+ */
+uint32_t timer_incremental_encoder_tim4_get_step();
+
+
+#endif // TIMER_CONFIGURATION_H_
diff --git a/zephyr/modules/owntech_ngnd_driver/zephyr/src/owntech_ngnd_driver.c b/zephyr/modules/owntech_ngnd_driver/zephyr/src/owntech_ngnd_driver.c
index aef47a0..d8271af 100644
--- a/zephyr/modules/owntech_ngnd_driver/zephyr/src/owntech_ngnd_driver.c
+++ b/zephyr/modules/owntech_ngnd_driver/zephyr/src/owntech_ngnd_driver.c
@@ -44,7 +44,7 @@ static int ngnd_init(const struct device* dev)
{
struct owntech_ngnd_driver_dev_data* data = dev->data;
- const struct gpio_dt_spec ngnd_spec = GPIO_DT_SPEC_GET(DT_CHILD(NGND_NODE, ngnd_gpio_pin), ngnd_gpios);
+ const struct gpio_dt_spec ngnd_spec = GPIO_DT_SPEC_GET(DT_CHILD(NGND_NODE, ngnd_gpio_pin), gpios);
data->ngnd_pin_spec = ngnd_spec;
gpio_pin_configure_dt(&data->ngnd_pin_spec, GPIO_OUTPUT_ACTIVE);
diff --git a/zephyr/modules/owntech_vrefbuf_driver/zephyr/CMakeLists.txt b/zephyr/modules/owntech_vrefbuf_driver/zephyr/CMakeLists.txt
deleted file mode 100644
index 0fd815f..0000000
--- a/zephyr/modules/owntech_vrefbuf_driver/zephyr/CMakeLists.txt
+++ /dev/null
@@ -1,8 +0,0 @@
-if(CONFIG_OWNTECH_VREFBUF_DRIVER)
- # Define the current folder as a Zephyr library
- zephyr_library()
- # Select source files to be compiled
- zephyr_library_sources(
- ./src/vrefbuf_driver.c
- )
-endif()
diff --git a/zephyr/modules/owntech_vrefbuf_driver/zephyr/Kconfig b/zephyr/modules/owntech_vrefbuf_driver/zephyr/Kconfig
deleted file mode 100644
index a633c22..0000000
--- a/zephyr/modules/owntech_vrefbuf_driver/zephyr/Kconfig
+++ /dev/null
@@ -1,3 +0,0 @@
-config OWNTECH_VREFBUF_DRIVER
- bool "Enable OwnTech VREFBUF driver for STM32"
- default y
diff --git a/zephyr/prj.conf b/zephyr/prj.conf
index 0e06f53..0ae42f9 100644
--- a/zephyr/prj.conf
+++ b/zephyr/prj.conf
@@ -36,6 +36,6 @@ CONFIG_ASSERT=y
#CONFIG_OWNTECH_HRTIM_DRIVER=n
#CONFIG_OWNTECH_NGND_DRIVER=n
#CONFIG_OWNTECH_DATA_ACQUISITION=n
-#CONFIG_OWNTECH_VREFBUF_DRIVER=n
#CONFIG_OWNTECH_DAC_DRIVER=n
#CONFIG_OWNTECH_COMPARATOR_DRIVER=n
+#OWNTECH_HARDWARE_CONFIGURATION=n
--
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