This commit is a patch to address the issue of the Twist v1.1.2 board whose...

This commit is a patch to address the issue of the Twist v1.1.2 board whose HRTIMA signals have been inverter in routing.

This commit defines a new hardware version, the TWIST_V_1_1_2.
This hardware version is then used to set up the control initialization sequence of the power legs, applying the necessary changest to leg 1 whose timer signals have been reversed in routing.
There is also a correction on the hrtim_init_independent_mode functino that initializes the pwm_phase_shift variable as well as their leg dependent equivalents.
This initalization is necessary to use the hrtim_interleaved_pwm_update function which uses the phase_shift variable when updating the duty cycle of interleaved buck and boost applicaitons.

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

@@ -47,6 +47,10 @@
 
 HardwareConfiguration hwConfig;
 
+/////
+// Static class members
+
+hardware_version_t HardwareConfiguration::hardware_version = nucleo_G474RE;
 
 /////
 // Public static configuration functions
@@ -63,6 +67,8 @@ HardwareConfiguration hwConfig;
  */
 void HardwareConfiguration::setBoardVersion(hardware_version_t hardware_version)
 {
+	HardwareConfiguration::hardware_version = hardware_version;
+
 	if (hardware_version == O2_v_1_1_2 || hardware_version == O2_v_0_9)
 	{
 		uart_lpuart1_swap_rx_tx();
@@ -70,7 +76,7 @@ void HardwareConfiguration::setBoardVersion(hardware_version_t hardware_version)
 	}else if(hardware_version == SPIN_v_0_1){
 		uart_lpuart1_swap_rx_tx();
 		hrtim_leg_tu(TIMA, TIMC);
-	}else if(hardware_version == SPIN_v_0_9){
+	}else if(hardware_version == SPIN_v_0_9 || hardware_version == TWIST_v_1_1_2){
 		hrtim_leg_tu(TIMA, TIMC);
 	}else if(hardware_version == nucleo_G474RE){
 		hrtim_leg_tu(TIMA, TIMB);
@@ -140,52 +146,91 @@ uint32_t HardwareConfiguration::getIncrementalEncoderValue()
 
 void HardwareConfiguration::initInterleavedBuckMode()
 {
-	hrtim_init_interleaved_buck_mode();
+	if(HardwareConfiguration::hardware_version == TWIST_v_1_1_2){
+		hrtim_init_independent_mode(false, true); //patch for the TWIST v0.9 - the second leg is inverted
+	}else{
+		hrtim_init_interleaved_buck_mode();
+	}
 }
 
 void HardwareConfiguration::initInterleavedBuckModeCenterAligned()
 {
-	hrtim_init_interleaved_buck_mode_center_aligned();
+	if(HardwareConfiguration::hardware_version == TWIST_v_1_1_2){
+		hrtim_init_independent_mode_center_aligned(false, true); //patch for the TWIST v0.9 - the second leg is inverted
+	}else{
+		hrtim_init_interleaved_buck_mode_center_aligned();
+	}
 }
 
 void HardwareConfiguration::initInterleavedBoostMode()
 {
-	hrtim_init_interleaved_boost_mode();
+	if(HardwareConfiguration::hardware_version == TWIST_v_1_1_2){
+		hrtim_init_independent_mode(true, false); //patch for the TWIST v0.9 - the second leg is inverted
+	}else{
+		hrtim_init_interleaved_boost_mode();
+	}
 }
 
 void HardwareConfiguration::initInterleavedBoostModeCenterAligned()
 {
-	hrtim_init_interleaved_boost_mode_center_aligned();
+	if(HardwareConfiguration::hardware_version == TWIST_v_1_1_2){
+		hrtim_init_independent_mode_center_aligned(true, false); //patch for the TWIST v0.9 - the second leg is inverted
+	}else{
+		hrtim_init_interleaved_boost_mode_center_aligned();
+	}
 }
 
 void HardwareConfiguration::initFullBridgeBuckMode()
 {
-	hrtim_init_full_bridge_buck_mode();
+	if(HardwareConfiguration::hardware_version == TWIST_v_1_1_2){
+		hrtim_init_full_bridge_buck_mode(true); //patch for the TWIST v0.9 - the second leg is inverted
+	}else{
+		hrtim_init_full_bridge_buck_mode(false);
+	}
+
 }
 
 void HardwareConfiguration::initFullBridgeBuckModeCenterAligned(inverter_modulation_t inverter_modulation_type)
 {
 	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);
+
+	if(HardwareConfiguration::hardware_version == TWIST_v_1_1_2){
+		hrtim_init_full_bridge_buck_mode_center_aligned(bipolar_mode,true); //patch for the TWIST v0.9 - the second leg is inverted
+	}else{
+		hrtim_init_full_bridge_buck_mode_center_aligned(bipolar_mode,false);
+	}
+
 }
 
 void HardwareConfiguration::initFullBridgeBoostMode()
 {
-	hrtim_init_interleaved_boost_mode();
+	if(HardwareConfiguration::hardware_version == TWIST_v_1_1_2){
+		hrtim_init_independent_mode(true, false); //patch for the TWIST v0.9 - the second leg is inverted
+	}else{
+		hrtim_init_interleaved_boost_mode();
+	}
 }
 
 void HardwareConfiguration::initFullBridgeBoostModeCenterAligned()
 {
-	hrtim_init_interleaved_boost_mode_center_aligned();
+	if(HardwareConfiguration::hardware_version == TWIST_v_1_1_2){
+		hrtim_init_independent_mode_center_aligned(true, false); //patch for the TWIST v0.9 - the second leg is inverted
+	}else{
+		hrtim_init_interleaved_boost_mode_center_aligned();
+	}
 }
 
 void HardwareConfiguration::initIndependentMode(leg_operation_t leg1_operation_type, leg_operation_t leg2_operation_type)
 {
 	bool leg1_mode, leg2_mode;
 	if (leg1_operation_type == buck) leg1_mode = true; else leg1_mode = false;
-	if (leg2_operation_type == buck) leg2_mode = true; else leg2_mode = false;
 
+	if (HardwareConfiguration::hardware_version == TWIST_v_1_1_2){										//patch for the TWIST v0.9 - the second leg is inverted
+		if (leg2_operation_type == buck) leg2_mode = false; else leg2_mode = true;
+	}else{
+		if (leg2_operation_type == buck) leg2_mode = true; else leg2_mode = false;
+	}
 	hrtim_init_independent_mode(leg1_mode, leg2_mode);
 }
 
@@ -193,7 +238,12 @@ void HardwareConfiguration::initIndependentModeCenterAligned(leg_operation_t leg
 {
 	bool leg1_mode, leg2_mode;
 	if (leg1_operation_type == buck) leg1_mode = true; else leg1_mode = false;
-	if (leg2_operation_type == buck) leg2_mode = true; else leg2_mode = false;
+
+	if (HardwareConfiguration::hardware_version == TWIST_v_1_1_2){										//patch for the TWIST v0.9 - the second leg is inverted
+		if (leg2_operation_type == buck) leg2_mode = false; else leg2_mode = true;
+	}else{
+		if (leg2_operation_type == buck) leg2_mode = true; else leg2_mode = false;
+	}
 
 	hrtim_init_independent_mode_center_aligned(leg1_mode, leg2_mode);
 }

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

@@ -49,7 +49,8 @@ typedef enum
 	O2_v_0_9,
 	O2_v_1_1_2,
 	SPIN_v_0_1,
-	SPIN_v_0_9
+	SPIN_v_0_9,
+	TWIST_v_1_1_2
 } hardware_version_t;
 
 /** Switch leg operation type.
@@ -145,6 +146,9 @@ public:
 	static void configureAdcDefaultAllMeasurements();
 	static void configureAdcDefaultAllMeasurementsAndExtra();
 
+private:
+	static hardware_version_t hardware_version;
+
 };
 
 

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

@@ -136,6 +136,7 @@ void hrtim_init_independent_mode(bool leg1_buck_mode, bool leg2_buck_mode)
 	pwm_period = leg_period();
 	pwm_phase_shift_leg1 = 0;
 	pwm_phase_shift_leg2 = pwm_period / 2;
+	pwm_phase_shift = pwm_period/2;
 	pwm_low_pulse_width = pwm_period * LOW_DUTY;
 	pwm_high_pulse_width = pwm_period * HIGH_DUTY;
 }
@@ -169,9 +170,13 @@ void hrtim_init_independent_mode_center_aligned(bool leg1_buck_mode, bool leg2_b
 /**
  * This function initializes both legs in full-bridge mode
  */
-void hrtim_init_full_bridge_buck_mode()
+void hrtim_init_full_bridge_buck_mode(bool SPIN_board_V_1_1_2)
 {
-	hrtim_init_voltage_buck(leg1_tu, leg1_tu);
+	if(SPIN_board_V_1_1_2){
+		hrtim_init_voltage_leg1_buck_leg2_boost(leg1_tu, leg2_tu); //patch for the spin v0.9 - the second leg is inverted
+	}else{
+		hrtim_init_voltage_buck(leg1_tu, leg2_tu);
+	}
 	full_bridge_bipolar_mode = false; //left-aligned inverter is always on unipolar mode
 
 	pwm_period = leg_period();
@@ -185,9 +190,14 @@ void hrtim_init_full_bridge_buck_mode()
 /**
  * This function initializes both legs in full-bridge mode
  */
-void hrtim_init_full_bridge_buck_mode_center_aligned(bool bipolar_mode)
+void hrtim_init_full_bridge_buck_mode_center_aligned(bool bipolar_mode,bool SPIN_board_V_1_1_2)
 {
-	hrtim_init_voltage_buck_center_aligned(leg1_tu, leg2_tu);
+	if(SPIN_board_V_1_1_2){
+		hrtim_init_voltage_leg1_buck_leg2_boost_center_aligned(leg1_tu, leg2_tu); //patch for the spin v0.9 - the second leg is inverted
+	}else{
+		hrtim_init_voltage_buck_center_aligned(leg1_tu, leg2_tu);
+	}
+
 	full_bridge_bipolar_mode = bipolar_mode;
 
 	pwm_period = leg_period();

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

@@ -62,14 +62,16 @@ 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();
+ * @param[in] SPIN_board_V_1_1_2 boolean to treat the case of the spin board V 0.9 -- Patch
+*/
+void hrtim_init_full_bridge_buck_mode(bool SPIN_board_V_1_1_2);
 
 /**
  * @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
+ * @param[in] SPIN_board_V_1_1_2 boolean to treat the case of the spin board V 0.9 -- Patch
  */
-void hrtim_init_full_bridge_buck_mode_center_aligned(bool bipolar_mode);
+void hrtim_init_full_bridge_buck_mode_center_aligned(bool bipolar_mode, bool SPIN_board_V_1_1_2);
 
 
 /**