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 1beb3187c1cd04d4af77474572494a27b61e05d0..2c9427593335b2da260469dc81b53c98bcdfd9fa 100644
--- a/zephyr/modules/owntech_hardware_configuration/zephyr/public_api/HardwareConfiguration.cpp
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/public_api/HardwareConfiguration.cpp
@@ -289,6 +289,27 @@ void HardwareConfiguration::setLeg2PhaseShiftCenterAligned(float32_t phase_shift
hrtim_leg2_phase_shift_update_center_aligned(phase_shift);
}
+
+void HardwareConfiguration::setHrtimFrequency(uint32_t frequency_Hz)
+{
+ hrtim_set_frequency(frequency_Hz);
+}
+
+uint32_t HardwareConfiguration::getHrtimFrequency()
+{
+ return hrtim_get_frequency();
+}
+
+void HardwareConfiguration::setHrtimMinDutyCycle(float32_t duty_cycle)
+{
+ hrtim_set_min_duty_cycle(duty_cycle);
+}
+
+void HardwareConfiguration::setHrtimMaxDutyCycle(float32_t duty_cycle)
+{
+ hrtim_set_max_duty_cycle(duty_cycle);
+}
+
void HardwareConfiguration::setInterleavedOn()
{
power_driver_interleaved_on();
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 f7006e037cee78bd4517606fbf2f11330c09a75f..6272e61ba4ff3cc70911f4532893fdf45ebc21be 100644
--- a/zephyr/modules/owntech_hardware_configuration/zephyr/public_api/HardwareConfiguration.h
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/public_api/HardwareConfiguration.h
@@ -120,6 +120,10 @@ public:
static void setLeg1DeadTime(uint16_t rise_ns, uint16_t fall_ns);
static void setLeg2DeadTime(uint16_t rise_ns, uint16_t fall_ns);
+ static void setHrtimFrequency(uint32_t frequency_Hz);
+ static uint32_t getHrtimFrequency();
+ static void setHrtimMinDutyCycle(float32_t duty_cycle);
+ static void setHrtimMaxDutyCycle(float32_t duty_cycle);
static void setInterleavedOn();
static void setFullBridgeBuckOn();
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 42d50e79954ebfa2cdaa4b1de58506699d4b5af7..09ac01276de0e27a3e7afe3a76e9ab448e698196 100644
--- a/zephyr/modules/owntech_hardware_configuration/zephyr/src/hrtim_configuration.cpp
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/src/hrtim_configuration.cpp
@@ -36,10 +36,6 @@
/////
// Defines
-// Saturation values used for the PWM duty cycle
-#define LOW_DUTY 0.1
-#define HIGH_DUTY 0.9
-
/////
// Local variables
static uint16_t pwm_period;
@@ -74,8 +70,6 @@ void hrtim_init_interleaved_buck_mode()
pwm_period = leg_period();
pwm_phase_shift = pwm_period / 2;
- pwm_low_pulse_width = pwm_period * LOW_DUTY;
- pwm_high_pulse_width = pwm_period * HIGH_DUTY;
}
/**
@@ -87,8 +81,6 @@ void hrtim_init_interleaved_buck_mode_center_aligned()
pwm_period = leg_period();
pwm_phase_shift = pwm_period;
- pwm_low_pulse_width = pwm_period * LOW_DUTY;
- pwm_high_pulse_width = pwm_period * HIGH_DUTY;
}
/**
@@ -100,8 +92,6 @@ void hrtim_init_interleaved_boost_mode()
pwm_period = leg_period();
pwm_phase_shift = pwm_period / 2;
- pwm_low_pulse_width = pwm_period * LOW_DUTY;
- pwm_high_pulse_width = pwm_period * HIGH_DUTY;
}
void hrtim_init_interleaved_boost_mode_center_aligned()
@@ -110,8 +100,6 @@ void hrtim_init_interleaved_boost_mode_center_aligned()
pwm_period = leg_period();
pwm_phase_shift = pwm_period;
- pwm_low_pulse_width = pwm_period * LOW_DUTY;
- pwm_high_pulse_width = pwm_period * HIGH_DUTY;
}
/**
@@ -137,8 +125,6 @@ void hrtim_init_independent_mode(bool leg1_buck_mode, bool leg2_buck_mode)
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;
}
/**
@@ -163,8 +149,6 @@ void hrtim_init_independent_mode_center_aligned(bool leg1_buck_mode, bool leg2_b
pwm_period = leg_period();
pwm_phase_shift = pwm_period;
- pwm_low_pulse_width = pwm_period * LOW_DUTY;
- pwm_high_pulse_width = pwm_period * HIGH_DUTY;
}
/**
@@ -180,9 +164,6 @@ void hrtim_init_full_bridge_buck_mode(bool SPIN_board_V_1_1_2)
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;
}
@@ -201,8 +182,6 @@ void hrtim_init_full_bridge_buck_mode_center_aligned(bool bipolar_mode,bool SPIN
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;
@@ -223,29 +202,9 @@ void hrtim_interleaved_pwm_update(float32_t pwm_duty_cycle)
{
uint16_t pwm_pulse_width;
- // TESTING PWM VALUE TO AVOID OVERFLOW AND PWM UPDATE//
- if (pwm_duty_cycle > HIGH_DUTY) // SATURATION CONDITIONS TO AVOID DIVERGENCE.
- {
- pwm_duty_cycle = HIGH_DUTY;
- pwm_pulse_width = pwm_high_pulse_width;
- leg_set(leg1_tu, pwm_pulse_width, 0);
- leg_set(leg2_tu, pwm_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;
- leg_set(leg1_tu, pwm_pulse_width, 0);
- leg_set(leg2_tu, pwm_pulse_width, pwm_phase_shift);
- }
-
- else
- {
- pwm_pulse_width = (pwm_duty_cycle * pwm_period);
- leg_set(leg1_tu, pwm_pulse_width, 0);
- leg_set(leg2_tu, pwm_pulse_width, pwm_phase_shift);
- }
+ pwm_pulse_width = (pwm_duty_cycle * pwm_period);
+ leg_set(leg1_tu, pwm_pulse_width, 0);
+ leg_set(leg2_tu, pwm_pulse_width, pwm_phase_shift);
}
@@ -263,55 +222,17 @@ void hrtim_full_bridge_buck_pwm_update(float32_t pwm_duty_cycle)
// TESTING PWM VALUE TO AVOID OVERFLOW AND PWM UPDATE//
if(full_bridge_bipolar_mode)
{
- 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(leg1_tu, pwm_pulse_width, 0);
- leg_set(leg2_tu, 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(leg1_tu, pwm_pulse_width, 0);
- leg_set(leg2_tu, 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(leg1_tu, pwm_pulse_width, 0);
- leg_set(leg2_tu, pwm_reverse_pulse_width, pwm_period*pwm_duty_cycle);
- }
+ pwm_pulse_width = (pwm_duty_cycle * pwm_period);
+ pwm_reverse_pulse_width = (1-pwm_duty_cycle) * pwm_period;
+ leg_set(leg1_tu, pwm_pulse_width, 0);
+ leg_set(leg2_tu, pwm_reverse_pulse_width, pwm_period*pwm_duty_cycle);
}
else
{
- 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(leg1_tu, pwm_pulse_width, 0);
- leg_set(leg2_tu, 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(leg1_tu, pwm_pulse_width, 0);
- leg_set(leg2_tu, 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(leg1_tu, pwm_pulse_width, 0);
- leg_set(leg2_tu, pwm_reverse_pulse_width, pwm_phase_shift);
- }
+ pwm_pulse_width = (pwm_duty_cycle * pwm_period);
+ pwm_reverse_pulse_width = (1-pwm_duty_cycle) * pwm_period;
+ leg_set(leg1_tu, pwm_pulse_width, 0);
+ leg_set(leg2_tu, pwm_reverse_pulse_width, pwm_phase_shift);
}
}
@@ -325,26 +246,8 @@ void hrtim_leg1_pwm_update(float32_t pwm_duty_cycle)
{
uint16_t pwm_pulse_width;
- // TESTING PWM VALUE TO AVOID OVERFLOW AND PWM UPDATE//
- if (pwm_duty_cycle > HIGH_DUTY) // SATURATION CONDITIONS TO AVOID DIVERGENCE.
- {
- pwm_duty_cycle = HIGH_DUTY;
- pwm_pulse_width = pwm_high_pulse_width;
- leg_set(leg1_tu, pwm_pulse_width, pwm_phase_shift_leg1);
- }
-
- else if (pwm_duty_cycle < LOW_DUTY) // SATURATION CONDITIONS TO AVOID DIVERGENCE.
- {
- pwm_duty_cycle = LOW_DUTY;
- pwm_pulse_width = pwm_low_pulse_width;
- leg_set(leg1_tu, pwm_pulse_width, pwm_phase_shift_leg1);
- }
-
- else
- {
- pwm_pulse_width = (pwm_duty_cycle * pwm_period);
- leg_set(leg1_tu, pwm_pulse_width, pwm_phase_shift_leg1);
- }
+ pwm_pulse_width = (pwm_duty_cycle * pwm_period);
+ leg_set(leg1_tu, pwm_pulse_width, pwm_phase_shift_leg1);
}
/**
@@ -356,26 +259,8 @@ void hrtim_leg2_pwm_update(float32_t pwm_duty_cycle)
{
uint16_t pwm_pulse_width;
- // TESTING PWM VALUE TO AVOID OVERFLOW AND PWM UPDATE//
- if (pwm_duty_cycle > HIGH_DUTY) // SATURATION CONDITIONS TO AVOID DIVERGENCE.
- {
- pwm_duty_cycle = HIGH_DUTY;
- pwm_pulse_width = pwm_high_pulse_width;
- leg_set(leg2_tu, pwm_pulse_width, pwm_phase_shift_leg2);
- }
-
- else if (pwm_duty_cycle < LOW_DUTY) // SATURATION CONDITIONS TO AVOID DIVERGENCE.
- {
- pwm_duty_cycle = LOW_DUTY;
- pwm_pulse_width = pwm_low_pulse_width;
- leg_set(leg2_tu, pwm_pulse_width, pwm_phase_shift_leg2);
- }
-
- else
- {
- pwm_pulse_width = (pwm_duty_cycle * pwm_period);
- leg_set(leg2_tu, pwm_pulse_width, pwm_phase_shift_leg2);
- }
+ pwm_pulse_width = (pwm_duty_cycle * pwm_period);
+ leg_set(leg2_tu, pwm_pulse_width, pwm_phase_shift_leg2);
}
/**
@@ -511,6 +396,7 @@ void hrtim_set_dead_time_leg1(uint16_t rise_ns, uint16_t fall_ns)
{
leg_set_dt(leg1_tu, rise_ns, fall_ns);
}
+
/**
* This updates the dead time of the leg 2
*/
@@ -518,3 +404,36 @@ void hrtim_set_dead_time_leg2(uint16_t rise_ns, uint16_t fall_ns)
{
leg_set_dt(leg2_tu, rise_ns, fall_ns);
}
+
+
+/**
+ * This sets the frequency of the HRTIMER
+ */
+void hrtim_set_frequency(uint32_t frequency_Hz)
+{
+ leg_set_freq(frequency_Hz);
+}
+
+/**
+ * This gets the frequency of the HRTIMER
+ */
+uint32_t hrtim_get_frequency()
+{
+ return leg_get_freq();
+}
+
+/**
+ * This updates the minimum duty cycle of both legs
+ */
+void hrtim_set_min_duty_cycle(float32_t duty_cycle)
+{
+ leg_set_min_duty_cycle(duty_cycle);
+}
+
+/**
+ * This updates the minimum duty cycle of both legs
+ */
+void hrtim_set_max_duty_cycle(float32_t duty_cycle)
+{
+ leg_set_max_duty_cycle(duty_cycle);
+}
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 49a68fa70fbaf5dc6bd4f55217c0efffd40be238..bfc01b251a9e623ac097833f499330eaf36ad08e 100644
--- a/zephyr/modules/owntech_hardware_configuration/zephyr/src/hrtim_configuration.h
+++ b/zephyr/modules/owntech_hardware_configuration/zephyr/src/hrtim_configuration.h
@@ -221,5 +221,26 @@ void hrtim_set_dead_time_leg1(uint16_t rise_ns, uint16_t fall_ns);
*/
void hrtim_set_dead_time_leg2(uint16_t rise_ns, uint16_t fall_ns);
+/**
+ * @brief Sets the frequency of the HRTIMER
+ */
+void hrtim_set_frequency(uint32_t frequency_Hz);
+
+/**
+ * @brief Gets the frequency of the HRTIMER
+ */
+uint32_t hrtim_get_frequency();
+
+/**
+ * @brief Updates the minimum duty cycle of both legs
+ */
+void hrtim_set_min_duty_cycle(float32_t duty_cycle);
+
+/**
+ * @brief This updates the minimum duty cycle of both legs
+ */
+void hrtim_set_max_duty_cycle(float32_t duty_cycle);
+
+
#endif // HRTIM_CONFIGURATION_H_
diff --git a/zephyr/modules/owntech_hrtim_driver/zephyr/public_api/leg.h b/zephyr/modules/owntech_hrtim_driver/zephyr/public_api/leg.h
index cf4cdadfd4ca0b9098862c1e78a406689dcbe6d5..f99a5e8cdde6597d78408a7ca89b9f993ec286d4 100644
--- a/zephyr/modules/owntech_hrtim_driver/zephyr/public_api/leg.h
+++ b/zephyr/modules/owntech_hrtim_driver/zephyr/public_api/leg.h
@@ -37,6 +37,7 @@
#include <assert.h>
#include <stdint.h>
+#include "arm_math.h"
#include <zephyr.h>
@@ -46,8 +47,8 @@
extern "C" {
#endif
-#define LEG_DEFAULT_DT (100U) /**< dead-time in ns */
-#define LEG_FREQ KHZ(200U) /**< frequency in Hz*/
+#define LEG_DEFAULT_DT (100U) /**< dead-time in ns */
+#define LEG_DEFAULT_FREQ KHZ(200U) /**< frequency in Hz*/
/**
* @brief Inverter leg configuration data structure
@@ -115,7 +116,7 @@ void leg_start(hrtim_tu_t timing_unit);
/**
* @brief period getter
*
- * @return period value returned by leg_init()
+ * @return period in micro-seconds value returned by leg_init()
*/
uint16_t leg_period(void);
@@ -136,11 +137,26 @@ uint8_t leg_numof(void);
leg_conf_t leg_get_conf(uint8_t leg);
/**
- * @brief LEG_FREQ getter
- *
- * @return value of LEG_FREQ in KHz
+ * @brief Gets the frequency in Hz
+ */
+uint32_t leg_get_freq(void);
+
+/**
+ * @brief Sets the frequency in Hz
+ */
+void leg_set_freq(uint32_t frequency_Hz);
+
+
+/**
+ * @brief Minimum duty cycle setter. Minimum of 0.02.
+ */
+void leg_set_min_duty_cycle(float32_t duty_cycle);
+
+/**
+ * @brief Maximum duty cycle setter. Maximum of 0.98.
*/
-uint16_t leg_get_freq(void);
+void leg_set_max_duty_cycle(float32_t duty_cycle);
+
#ifdef __cplusplus
}
diff --git a/zephyr/modules/owntech_hrtim_driver/zephyr/src/voltage_mode/owntech_leg_driver.cpp b/zephyr/modules/owntech_hrtim_driver/zephyr/src/voltage_mode/owntech_leg_driver.cpp
index 3292a0c25023c8cc88973542e44e174c183119bc..c61575aa78bb4053fab4c9c626e55e95fb156071 100644
--- a/zephyr/modules/owntech_hrtim_driver/zephyr/src/voltage_mode/owntech_leg_driver.cpp
+++ b/zephyr/modules/owntech_hrtim_driver/zephyr/src/voltage_mode/owntech_leg_driver.cpp
@@ -32,8 +32,19 @@
#include "owntech_leg_driver.h"
#include "hrtim_voltage_mode.h"
+// Saturation values used for the PWM duty cycle
+#define LOW_DUTY 0.03
+#define HIGH_DUTY 0.97
+
+
static uint16_t period, min_pw, max_pw, dead_time;
+// default configurations of the HRTIMER
+static uint32_t frequency = 200000;
+static float32_t min_duty_cycle = 0.1;
+static float32_t max_duty_cycle = 0.9;
+
+
static leg_conf_t leg_conf[6]; /* a copy of leg_config with index
* corresponding to timing unit */
@@ -73,16 +84,14 @@ static uint8_t _TU_num(hrtim_tu_t tu){
*/
uint16_t leg_init(bool leg1_upper_switch_convention, bool leg2_upper_switch_convention, hrtim_tu_t leg1_tu, hrtim_tu_t leg2_tu)
{
- uint32_t freq = LEG_FREQ;
-
/* ensures that timing_unit can be used as leg identifier */
for (unsigned int i = 0; i < LEG_NUMOF; i++)
{
leg_conf[_TU_num(leg_config[i].timing_unit)] = leg_config[i];
}
- period = hrtim_init(0, &freq, LEG_DEFAULT_DT,leg1_upper_switch_convention,leg2_upper_switch_convention, leg1_tu, leg2_tu);
- dead_time = (period*LEG_DEFAULT_DT*leg_get_freq())/1000000;
+ period = hrtim_init(0, &frequency, LEG_DEFAULT_DT,leg1_upper_switch_convention,leg2_upper_switch_convention, leg1_tu, leg2_tu);
+ dead_time = (uint16_t)((((double)period)*LEG_DEFAULT_DT*((double)frequency))/1000000000.0); //this line is overflow safe
min_pw = (period * 0.1) + dead_time;
max_pw = (period * 0.9) + dead_time;
return period;
@@ -97,18 +106,16 @@ uint16_t leg_init(bool leg1_upper_switch_convention, bool leg2_upper_switch_conv
*/
uint16_t leg_init_center_aligned(bool leg1_upper_switch_convention, bool leg2_upper_switch_convention,hrtim_tu_t leg1_tu, hrtim_tu_t leg2_tu)
{
- uint32_t freq = LEG_FREQ;
-
/* ensures that timing_unit can be used as leg identifier */
for (unsigned int i = 0; i < LEG_NUMOF; i++)
{
leg_conf[_TU_num(leg_config[i].timing_unit)] = leg_config[i];
}
- period = hrtim_init_updwn(0, &freq, LEG_DEFAULT_DT,leg1_upper_switch_convention,leg2_upper_switch_convention, leg1_tu, leg2_tu);
- dead_time = (period*LEG_DEFAULT_DT*leg_get_freq())/1000000;
- min_pw = (period * 0.1) + dead_time;
- max_pw = (period * 0.9) + dead_time;
+ period = hrtim_init_updwn(0, &frequency, LEG_DEFAULT_DT,leg1_upper_switch_convention,leg2_upper_switch_convention, leg1_tu, leg2_tu);
+ dead_time = (uint16_t)((((double)period)*LEG_DEFAULT_DT*((double)frequency))/1000000000.0); //this line is overflow safe
+ min_pw = (period * min_duty_cycle) + dead_time;
+ max_pw = (period * max_duty_cycle) + dead_time;
return period;
}
@@ -120,7 +127,7 @@ void leg_set(hrtim_tu_t timing_unit, uint16_t pulse_width, uint16_t phase_shift)
//Second check for duty cycle saturation
if (pulse_width<min_pw)
{
- pulse_width = max_pw;
+ pulse_width = min_pw;
}
else if (pulse_width > max_pw)
{
@@ -172,7 +179,30 @@ leg_conf_t leg_get_conf(uint8_t leg)
return leg_conf[leg_config[leg].timing_unit];
}
-uint16_t leg_get_freq(void)
+uint32_t leg_get_freq(void)
+{
+ return frequency;
+}
+
+void leg_set_freq(uint32_t frequency_Hz)
+{
+ frequency = frequency_Hz;
+}
+
+void leg_set_min_duty_cycle(float32_t duty_cycle)
{
- return LEG_FREQ / 1000;
+ if (duty_cycle>=LOW_DUTY) {
+ min_duty_cycle = duty_cycle;
+ }else{
+ min_duty_cycle = LOW_DUTY;
+ }
+}
+
+void leg_set_max_duty_cycle(float32_t duty_cycle)
+{
+ if (duty_cycle<=HIGH_DUTY) {
+ max_duty_cycle = duty_cycle;
+ }else{
+ max_duty_cycle = HIGH_DUTY;
+ }
}