diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..67cd97bbc24235b687a0786be6a095dd0d715279
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,503 @@
+ GNU LESSER GENERAL PUBLIC LICENSE
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diff --git a/library.json b/library.json
new file mode 100644
index 0000000000000000000000000000000000000000..725b85218ded95b5cc4c6878f6765e946ed94ba7
--- /dev/null
+++ b/library.json
@@ -0,0 +1,35 @@
+{
+ "name": "opalib_control_pid",
+ "version": "0.1",
+ "description": "OwnTech Power API Library that implements a pid control for the owntech converter.",
+ "keywords": "OwnTech Power API",
+ "repository":
+ {
+ "type": "git",
+ "url": "https://gitlab.laas.fr/owntech/power-api/opalib-control-pid.git"
+ },
+ "authors":
+ [
+ {
+ "name": "Clement Foucher",
+ "email": "clement.foucher@laas.fr"
+ },
+ {
+ "name": "Jean Alinei",
+ "email": "jean.alinei@laas.fr"
+ },
+ {
+ "name": "Luiz Villa",
+ "email": "luiz.villa@laas.fr",
+ "maintainer": true
+ }
+ ],
+ "license": "LGPLV2",
+ "homepage": "https://www.owntech.org/",
+ "dependencies": {
+ "owntech/core": "~1.0"
+ },
+ "frameworks": "zephyr",
+ "platforms": "ststm32@14.2.0"
+ }
+
diff --git a/src/opalib_control_pid.c b/src/opalib_control_pid.c
new file mode 100644
index 0000000000000000000000000000000000000000..ec9fffc4929a35efc986bd7fea629d91bea2ef10
--- /dev/null
+++ b/src/opalib_control_pid.c
@@ -0,0 +1,276 @@
+/*
+ * Copyright (c) 2021 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
+ */
+
+/**
+ * @author Jean Alinei <jean.alinei@laas.fr>
+ * @author Clément Foucher <clement.foucher@laas.fr>
+ * @author Antoine Boche <antoine.boche@laas.fr>
+ */
+
+/////
+// Include
+
+// Zephyr
+#include <zephyr.h>
+
+// Stdlib
+#include <stdio.h>
+
+// Current file header
+#include "opalib_control.h"
+
+
+/////
+// Defines
+
+// Saturation values used for the PWM duty cycle
+#define LOW_DUTY 0.1
+#define HIGH_DUTY 0.9
+#define VMAX 130
+#define IMAX_INT 16
+#define IMAX_LEG 8
+
+/////
+// Local variables
+
+static float32_t saturation_interleaved, saturation_leg1, saturation_leg2; // Represent the minimum voltage required for the entry to suit the Vref
+
+// Interleaved PID variables
+static arm_pid_instance_f32 PID_variables; // PID structure
+static float32_t error_pid; // PID error
+static uint32_t pid_period_us; // Period duration of the PID calculation loop in µs (used for Ki calculation)
+
+static float32_t prev_pid_out = 0.1; // Stores the previous unsaturated output
+static float32_t pid_out; // Stores the current pid_output after saturation and anti windUp (the effective duty cycle)
+static uint32_t Count_pid_reset; // Counter to reset the PID when calculation is off
+
+// Anti-Windup variables
+static float32_t pid_out_windUp = 0.1; // Stores the current pid output after anti windup and before saturation
+static float32_t WindUp_sub, WindUp_mult; // Transition variables for arm calculation of the WindUp
+float32_t Kw = 0.000143; // WindUp Parameter
+
+
+// Leg1 PID variables
+static arm_pid_instance_f32 PID_1_variables; // PID structure
+static float32_t error_pid_1; // PID error
+static uint32_t pid_1_period_us; // Period duration of the PID calculation loop in µs (used for Ki calculation)
+
+static float32_t prev_pid_1_out = 0.1; // Stores the previous unsaturated output
+static float32_t pid_1_out; // Stores the current pid_output after saturation and anti windUp (the effective duty cycle)
+static uint32_t Count_pid_1_reset; // Counter to reset the PID when calculation is off
+
+// Anti-Windup variables
+static float32_t pid_1_out_windUp = 0.1; // Stores the current pid output after anti windup and before saturation
+static float32_t WindUp_1_sub, WindUp_1_mult; // Transition variables for arm calculation of the WindUp
+float32_t Kw_1 = 0.000143; // WindUp Parameter
+
+// Leg2 PID variables
+static arm_pid_instance_f32 PID_2_variables; // PID structure
+static float32_t error_pid_2; // PID error
+static uint32_t pid_2_period_us; // Period duration of the PID calculation loop in µs (used for Ki calculation)
+
+static float32_t prev_pid_2_out = 0.1; // Stores the previous unsaturated output
+static float32_t pid_2_out; // Stores the current pid_output after saturation and anti windUp (the effective duty cycle)
+static uint32_t Count_pid_2_reset; // Counter to reset the PID when calculation is off
+
+// Anti-Windup variables
+static float32_t pid_2_out_windUp = 0.1; // Stores the current pid output after anti windup and before saturation
+static float32_t WindUp_2_sub, WindUp_2_mult; // Transition variables for arm calculation of the WindUp
+float32_t Kw_2 = 0.000143; // WindUp Parameter
+
+// PWM variables
+static float32_t pwm_duty_cycle = 0.1; // PWM initialization duty cycle value for the interleaved mode
+static float32_t pwm_duty_cycle_1 = 0.1; // PWM initialization duty cycle value for leg 1
+static float32_t pwm_duty_cycle_2 = 0.1; // PWM initialization duty cycle value for leg 2
+
+
+/////
+// Public Functions
+
+/**
+ * This function initializes all the parameters
+ * needed for the PID calculation for the buck topology
+ */
+void opalib_control_init_interleaved_pid(float32_t kp, float32_t ki, float32_t kd, uint32_t task_period_us)
+{
+ pid_period_us = task_period_us;
+
+ float32_t million = 1000000;
+ PID_variables.Kp = kp;
+ PID_variables.Ki = ki * (pid_period_us / million);
+ PID_variables.Kd = kd;
+
+ arm_pid_init_f32(&PID_variables, 1);
+
+}
+
+/**
+ * This function initializes all the parameters
+ * needed for the PID calculation for the buck topology
+ */
+void opalib_power_conversion_init_leg1_pid(bool leg1_buck_mode, float32_t vref, float32_t kp, float32_t ki, float32_t kd, uint32_t task_period_us)
+{
+ pid_period_us = task_period_us;
+
+ float32_t million = 1000000;
+ PID_1_variables.Kp = kp;
+ PID_1_variables.Ki = ki * (pid_period_us / million);
+ PID_1_variables.Kd = kd;
+
+ arm_pid_init_f32(&PID_1_variables, 1);
+
+}
+
+/**
+ * This function initializes all the parameters
+ * needed for the PID calculation for the buck topology
+ */
+void opalib_power_conversion_init_leg2(float32_t vref, float32_t kp, float32_t ki, float32_t kd, uint32_t task_period_us)
+{
+ pid_period_us = task_period_us;
+
+ float32_t million = 1000000;
+ PID_2_variables.Kp = kp;
+ PID_2_variables.Ki = ki * (pid_period_us / million);
+ PID_2_variables.Kd = kd;
+
+ arm_pid_init_f32(&PID_2_variables, 1);
+
+}
+
+/**
+ * This function update the voltage reference of the
+ * control task.
+ */
+
+void opalib_control_update_saturation_interleaved(float32_t new_saturation_value)
+{
+ saturation_interleaved = new_saturation_value;
+}
+
+/**
+ * This function update the voltage reference of the
+ * control task.
+ */
+
+void opalib_control_update_saturation_leg1(float32_t new_saturation_value)
+{
+ saturation_leg1 = new_saturation_value;
+}
+
+/**
+ * This function update the voltage reference of the
+ * control task.
+ */
+void opalib_control_update_saturation_leg2(float32_t new_saturation_value)
+{
+ saturation_leg2 = new_saturation_value;
+}
+
+
+/**
+ * This function does the PID calculation
+ * The PID has an anti-windup that permits to avoid
+ * loosing control.
+ */
+
+float32_t opalib_control_interleaved_pid_calculation(float32_t reference, float32_t measurement){
+
+ if (measurement <= saturation_interleaved){
+
+ arm_sub_f32(&reference, &measurement, &error_pid, 1); // CALCULATING THE ERROR BASED ON THE REFERENCE
+ pid_out = arm_pid_f32(&PID_variables, error_pid); // PID CALCULATIONS
+
+ //PID anti WindUp saturation
+ arm_sub_f32(&pwm_duty_cycle, &prev_pid_out, &WindUp_sub, 1);
+ arm_mult_f32(&WindUp_sub, &Kw, &WindUp_mult, 1);
+ arm_add_f32(&WindUp_mult, &pid_out, &pid_out_windUp, 1);
+
+ PID_variables.state[2] = pid_out_windUp;
+ pwm_duty_cycle = pid_out_windUp;
+ prev_pid_out = pid_out;
+ }
+
+ return pwm_duty_cycle;
+}
+
+/**
+ * This function does the PID_1 calculation
+ * The PID has an anti-windup that permits to avoid
+ * loosing control.
+ */
+
+float32_t opalib_control_leg1_pid_calculation(float32_t reference, float32_t measurement)
+{
+ if (measurement <= saturation_leg1){
+
+ arm_sub_f32(&reference, &measurement, &error_pid_1, 1); // CALCULATING THE ERROR BASED ON THE REFERENCE
+
+ pid_1_out = arm_pid_f32(&PID_1_variables, error_pid_1); // PID CALCULATIONS
+
+ //PID anti WindUp saturation
+ arm_sub_f32(&pwm_duty_cycle_1, &prev_pid_1_out, &WindUp_1_sub, 1);
+ arm_mult_f32(&WindUp_1_sub, &Kw_2, &WindUp_1_mult, 1);
+ arm_add_f32(&WindUp_1_mult, &pid_1_out, &pid_1_out_windUp, 1);
+
+ PID_1_variables.state[2] = pid_1_out_windUp;
+ pwm_duty_cycle_1 = pid_1_out_windUp;
+ prev_pid_1_out = pid_1_out;
+ }
+
+ return pwm_duty_cycle_1;
+}
+
+
+/**
+ * This function does the PID_2 calculation
+ * The PID has an anti-windup that permits to avoid
+ * loosing control.
+ */
+
+float32_t opalib_control_leg2_pid_calculation(float32_t reference, float32_t measurement)
+{
+ if (measurement <= saturation_leg2){
+
+ arm_sub_f32(&reference, &measurement, &error_pid_2, 1); // CALCULATING THE ERROR BASED ON THE REFERENCE
+
+ pid_2_out = arm_pid_f32(&PID_2_variables, error_pid_2); // PID CALCULATIONS
+
+ //PID anti WindUp saturation
+ arm_sub_f32(&pwm_duty_cycle_2, &prev_pid_2_out, &WindUp_2_sub, 1);
+ arm_mult_f32(&WindUp_2_sub, &Kw_2, &WindUp_2_mult, 1);
+ arm_add_f32(&WindUp_2_mult, &pid_2_out, &pid_2_out_windUp, 1);
+
+ PID_2_variables.state[2] = pid_2_out_windUp;
+ pwm_duty_cycle_2 = pid_2_out_windUp;
+ prev_pid_2_out = pid_2_out;
+ }
+
+ return pwm_duty_cycle_2;
+}
+
+/**
+ * This function resets the states of the pid
+ */
+void opalib_control_pid_reset_state()
+{
+ arm_pid_reset_f32(&PID_variables);
+ arm_pid_reset_f32(&PID_1_variables);
+ arm_pid_reset_f32(&PID_2_variables);
+}
diff --git a/src/opalib_control_pid.h b/src/opalib_control_pid.h
new file mode 100644
index 0000000000000000000000000000000000000000..c15ea69b7f4d7d56c6e98fd027d51669de57f33d
--- /dev/null
+++ b/src/opalib_control_pid.h
@@ -0,0 +1,132 @@
+/*
+ * Copyright (c) 2021 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
+ */
+/**
+ * @author Jean Alinei <jean.alinei@laas.fr>
+ * @author Clément Foucher <clement.foucher@laas.fr>
+ * @author Antoine Boche <antoine.boche@laas.fr>
+ */
+
+#ifndef OPALIB_CONTROL_H_
+#define OPALIB_CONTROL_H_
+
+#include <arm_math.h> // adds all the CMSIS library
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief This function initialize all the parameters
+ * needed for the PID calculation for the buck topology
+ *
+ * @param[in] kp Proportional gain for PID calculation
+ * @param[in] ki Integral gain for PID calculation
+ * @param[in] kd Derivative gain for PID calculation
+ * @param[in] task_period_us the period of the control task in micro-seconds
+ */
+void opalib_control_init_interleaved_pid(float32_t kp, float32_t ki, float32_t kd, uint32_t task_period_us);
+
+/**
+ * @brief This function initialize all the parameters for leg 1
+ *
+ * @param[in] kp Proportional gain for PID calculation
+ * @param[in] ki Integral gain for PID calculation
+ * @param[in] kd Derivative gain for PID calculation
+ * @param[in] task_period_us the period of the control task in micro-seconds
+ */
+void opalib_control_init_leg1_pid(float32_t kp, float32_t ki, float32_t kd, uint32_t task_period_us);
+
+/**
+ * @brief This function initialize all the parameters for leg 2
+ *
+ * @param[in] kp Proportional gain for PID calculation
+ * @param[in] ki Integral gain for PID calculation
+ * @param[in] kd Derivative gain for PID calculation
+ * @param[in] task_period_us the period of the control task in micro-seconds
+ */
+void opalib_control_init_leg2_pid(float32_t kp, float32_t ki, float32_t kd, uint32_t task_period_us);
+
+/**
+ * @brief This function update the saturation value used to protect both legs in the pid calculation
+ *
+ * @param[in] new_saturation_value The new saturation value to be set
+ */
+void opalib_control_update_saturation_interleaved(float32_t new_saturation_value);
+
+
+/**
+ * @brief This function update the saturation value used to protect leg1 in the pid calculation
+ *
+ * @param[in] new_saturation_value The new saturation value to be set
+ */
+void opalib_control_update_saturation_leg1(float32_t new_saturation_value);
+
+/**
+ * @brief This function update the saturation value used to protect leg2 in the pid calculation
+ *
+ * @param[in] new_saturation_value The new saturation value to be set
+ */
+void opalib_control_update_saturation_leg2(float32_t new_saturation_value);
+
+
+/**
+ * @brief This function calculates the error and calls a single pid for both legs to get an updated value for the duty cycle
+ *
+ * @param[in] voltage_reference floating point reference value to be tracked
+ * @param[in] measurement floating point measurement of the value used to calculate the error
+ *
+ * @return duty cycle to be sent to HRTIM peripheral
+ */
+
+float32_t opalib_control_interleaved_pid_calculation(float32_t reference, float32_t measurement);
+
+
+/**
+ * @brief This function calculates the error and calls pid 1 to get an updated value for the duty cycle
+ *
+ * @param[in] voltage_reference floating point reference value to be tracked
+ * @param[in] measurement floating point measurement of the value used to calculate the error
+ *
+ * @return duty cycle to be sent to HRTIM peripheral
+ */
+
+float32_t opalib_control_leg1_pid_calculation(float32_t reference, float32_t measurement);
+
+/**
+ * @brief This function calculates the error and calls pid 2 to get an updated value for the duty cycle
+ *
+ * @param[in] voltage_reference floating point reference value to be tracked
+ * @param[in] measurement floating point measurement of the value used to calculate the error
+ *
+ * @return duty cycle to be sent to HRTIM peripheral
+ */
+
+float32_t opalib_control_leg2_pid_calculation(float32_t reference, float32_t measurement);
+
+/**
+ * @brief This function reset the pid state
+ */
+void opalib_control_pid_reset_state(void);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // OPALIB_CONTROL_H_