diff --git a/zephyr/modules/owntech_hardware_configuration/zephyr/CMakeLists.txt b/zephyr/modules/owntech_hardware_configuration/zephyr/CMakeLists.txt
index 6565eb7ec7f21aac7875fe4b496e14355be0e931..e9dd0bee4b80c3224a6b6f85b42c3c605362e329 100644
--- a/zephyr/modules/owntech_hardware_configuration/zephyr/CMakeLists.txt
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/CMakeLists.txt
@@ -15,6 +15,7 @@ if(CONFIG_OWNTECH_HARDWARE_CONFIGURATION)
src/hrtim_configuration.cpp
src/uart_configuration.cpp
src/adc_configuration.cpp
+ src/power_driver_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
index ae5ec6b22bc2adce7ab4833c485bfa636aa09cb3..148061448d0710140f5ef3362331c79d837781e7 100644
--- a/zephyr/modules/owntech_hardware_configuration/zephyr/Kconfig
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/Kconfig
@@ -6,3 +6,4 @@ config OWNTECH_HARDWARE_CONFIGURATION
depends on OWNTECH_HRTIM_DRIVER
depends on OWNTECH_NGND_DRIVER
depends on OWNTECH_TIMER_DRIVER
+ depends on OWNTECH_GPIO_API
diff --git a/zephyr/modules/owntech_hardware_configuration/zephyr/public_api/HardwareConfiguration.cpp b/zephyr/modules/owntech_hardware_configuration/zephyr/public_api/HardwareConfiguration.cpp
index 7bf85ba8773dfafefaf42de4c3c298d2699e8a75..1beb3187c1cd04d4af77474572494a27b61e05d0 100644
--- a/zephyr/modules/owntech_hardware_configuration/zephyr/public_api/HardwareConfiguration.cpp
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/public_api/HardwareConfiguration.cpp
@@ -34,6 +34,7 @@
#include "../src/hrtim_configuration.h"
#include "../src/uart_configuration.h"
#include "../src/adc_configuration.h"
+#include "../src/power_driver_configuration.h"
// Current class header
#include "HardwareConfiguration.h"
@@ -290,45 +291,53 @@ void HardwareConfiguration::setLeg2PhaseShiftCenterAligned(float32_t phase_shift
void HardwareConfiguration::setInterleavedOn()
{
+ power_driver_interleaved_on();
hrtim_start_interleaved();
}
void HardwareConfiguration::setFullBridgeBuckOn()
{
+ power_driver_interleaved_on();
hrtim_start_full_bridge_buck();
}
void HardwareConfiguration::setLeg1On()
{
+ power_driver_leg1_on();
hrtim_start_leg1();
}
void HardwareConfiguration::setLeg2On()
{
+ power_driver_leg2_on();
hrtim_start_leg2();
}
void HardwareConfiguration::setInterleavedOff()
{
+ power_driver_interleaved_off();
hrtim_stop_interleaved();
}
void HardwareConfiguration::setFullBridgeBuckOff()
{
+ power_driver_interleaved_off();
hrtim_stop_full_bridge_buck();
}
void HardwareConfiguration::setLeg1Off()
{
+ power_driver_leg1_off();
hrtim_stop_leg1();
}
void HardwareConfiguration::setLeg2Off()
{
+ power_driver_leg2_off();
hrtim_stop_leg2();
}
-void HardwareConfiguration::setHrtimAdcTrigInterleaved(uint16_t new_trig)
+void HardwareConfiguration::setHrtimAdcTrigInterleaved(float32_t new_trig)
{
set_adc_trig_interleaved(new_trig);
}
diff --git a/zephyr/modules/owntech_hardware_configuration/zephyr/public_api/HardwareConfiguration.h b/zephyr/modules/owntech_hardware_configuration/zephyr/public_api/HardwareConfiguration.h
index 54377d64014ab84d01c9fe6bf733d338e93c6b1a..f7006e037cee78bd4517606fbf2f11330c09a75f 100644
--- a/zephyr/modules/owntech_hardware_configuration/zephyr/public_api/HardwareConfiguration.h
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/public_api/HardwareConfiguration.h
@@ -131,7 +131,7 @@ public:
static void setLeg1Off();
static void setLeg2Off();
- static void setHrtimAdcTrigInterleaved(uint16_t new_trig);
+ static void setHrtimAdcTrigInterleaved(float32_t new_trig);
// Extra UART
static void extraUartInit();
diff --git a/zephyr/modules/owntech_hardware_configuration/zephyr/src/hrtim_configuration.cpp b/zephyr/modules/owntech_hardware_configuration/zephyr/src/hrtim_configuration.cpp
index 81e056114156d4e7918a7e4e8846dffa33a40821..42d50e79954ebfa2cdaa4b1de58506699d4b5af7 100644
--- a/zephyr/modules/owntech_hardware_configuration/zephyr/src/hrtim_configuration.cpp
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/src/hrtim_configuration.cpp
@@ -247,7 +247,6 @@ void hrtim_interleaved_pwm_update(float32_t pwm_duty_cycle)
leg_set(leg2_tu, pwm_pulse_width, pwm_phase_shift);
}
- hrtim_update_adc_trig_interleaved( (pwm_pulse_width>>1) + (pwm_pulse_width>>2), leg1_tu, leg2_tu); //works only on left aligned as center aligned does not use the same comparators
}
/**
@@ -497,9 +496,10 @@ void hrtim_start_leg2()
leg_start(leg2_tu);
}
-void set_adc_trig_interleaved(uint16_t new_trig)
+void set_adc_trig_interleaved(float32_t new_trig)
{
- hrtim_update_adc_trig_interleaved(new_trig, leg1_tu, leg2_tu);
+ uint16_t new_trig_int = new_trig * pwm_period;
+ hrtim_update_adc_trig_interleaved(new_trig_int, leg1_tu, leg2_tu);
}
diff --git a/zephyr/modules/owntech_hardware_configuration/zephyr/src/hrtim_configuration.h b/zephyr/modules/owntech_hardware_configuration/zephyr/src/hrtim_configuration.h
index f8e0b08a63f59d296f51429208e24a545ed80c34..49a68fa70fbaf5dc6bd4f55217c0efffd40be238 100644
--- a/zephyr/modules/owntech_hardware_configuration/zephyr/src/hrtim_configuration.h
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/src/hrtim_configuration.h
@@ -209,7 +209,7 @@ void hrtim_start_leg2();
*
* @param[in] new_trig defines the triggering moment
*/
-void set_adc_trig_interleaved(uint16_t new_trig);
+void set_adc_trig_interleaved(float32_t new_trig);
/**
* @brief This function sets the dead time of the leg 1
diff --git a/zephyr/modules/owntech_hardware_configuration/zephyr/src/power_driver_configuration.cpp b/zephyr/modules/owntech_hardware_configuration/zephyr/src/power_driver_configuration.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..bd13668fbb4c2bdb4052963350caf392116b09b6
--- /dev/null
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/src/power_driver_configuration.cpp
@@ -0,0 +1,102 @@
+/*
+ * 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>
+ * @author Luiz Villa <luiz.villa@laas.fr>
+ */
+
+
+// Zephyr
+#include "zephyr.h"
+#include "GpioApi.h"
+
+static bool init = false;
+
+
+void power_driver_config_init()
+{
+ gpio.configurePin(PC12,OUTPUT); //configures the pin of leg 1 mosfet high
+ gpio.configurePin(PC13,OUTPUT); //configures the pin of leg 2 mosfet high
+ init = true;
+}
+
+void power_driver_leg1_on()
+{
+ if (init == false)
+ {
+ power_driver_config_init(); //calls the config automatically during the first execution
+ }
+
+ gpio.setPin(PC12);
+}
+
+void power_driver_leg2_on()
+{
+ if (init == false)
+ {
+ power_driver_config_init(); //calls the config automatically during the first execution
+ }
+
+ gpio.setPin(PC13);
+}
+
+void power_driver_leg1_off()
+{
+ if (init == false)
+ {
+ power_driver_config_init(); //calls the config automatically during the first execution
+ }
+
+ gpio.resetPin(PC12);
+}
+
+void power_driver_leg2_off()
+{
+ if (init == false)
+ {
+ power_driver_config_init(); //calls the config automatically during the first execution
+ }
+
+ gpio.resetPin(PC12);
+}
+
+void power_driver_interleaved_on()
+{
+ if (init == false)
+ {
+ power_driver_config_init(); //calls the config automatically during the first execution
+ }
+
+ gpio.setPin(PC12);
+ gpio.setPin(PC13);
+}
+
+void power_driver_interleaved_off()
+{
+ if (init == false)
+ {
+ power_driver_config_init(); //calls the config automatically during the first execution
+ }
+
+ gpio.resetPin(PC12);
+ gpio.resetPin(PC13);
+}
+
diff --git a/zephyr/modules/owntech_hardware_configuration/zephyr/src/power_driver_configuration.h b/zephyr/modules/owntech_hardware_configuration/zephyr/src/power_driver_configuration.h
new file mode 100644
index 0000000000000000000000000000000000000000..609919e7bd776029f72b818c515d2be13edd77f4
--- /dev/null
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/src/power_driver_configuration.h
@@ -0,0 +1,39 @@
+/*
+ * 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>
+ * @author Luiz Villa <luiz.villa@laas.fr>
+ */
+
+
+#ifndef POWER_DRIVER_CONFIGURATION_H_
+#define POWER_DRIVER_CONFIGURATION_H_
+
+
+void power_driver_leg1_on();
+void power_driver_leg1_off();
+void power_driver_leg2_on();
+void power_driver_leg2_off();
+void power_driver_interleaved_on();
+void power_driver_interleaved_off();
+
+
+#endif // POWER_DRIVER_CONFIGURATION_H_