first draft

.vscode/settings.json

@@ -3,6 +3,8 @@
         "${workspaceFolder}/build_4/PHF000-Firmware": "Launch PHF000-Firmware"
     },
     "files.associations": {
-        "nrfx_temp.h": "c"
+        "nrfx_temp.h": "c",
+        "device.h": "c",
+        "counter.h": "c"
     }
 }

boards/Mi_labs/phf000_board/phf000_board.dts

@@ -183,4 +183,9 @@ zephyr_udc0: &usbd {
 &temp {
     compatible = "nordic,nrf-temp";
     status = "okay";
+};
+
+/* Enable Timer3 as counter backend */
+&timer3 {
+    status = "okay";
 };

boards/Mi_labs/phf000_board/phf000_board_defconfig

@@ -35,4 +35,7 @@ CONFIG_CLOCK_CONTROL_NRF_K32SRC_XTAL=y
 
 CONFIG_SENSOR=y
 CONFIG_MULTITHREADING=y
-CONFIG_NRFX_TEMP=y
+CONFIG_NRFX_TEMP=y
+
+CONFIG_COUNTER=y
+CONFIG_NRFX_TIMER3=y

drivers/actuator/actuator.c

@@ -1,21 +1,191 @@
 #include "actuator.h"
+#include <zephyr/kernel.h>
 #include <zephyr/drivers/gpio.h>
-#include <zephyr/sys/printk.h>
+#include <zephyr/drivers/counter.h>
+#include <zephyr/logging/log.h>
+#include <zephyr/device.h>
+#include <zephyr/drivers/counter.h>
 
+LOG_MODULE_REGISTER(actuator, LOG_LEVEL_INF);
+
+/* === GPIOs from devicetree === */
 #define USER_NODE DT_PATH(zephyr_user)
-static const struct gpio_dt_spec do1 = GPIO_DT_SPEC_GET(USER_NODE, do1_gpios);
+static const struct gpio_dt_spec do1   = GPIO_DT_SPEC_GET(USER_NODE, do1_gpios);
-static const struct gpio_dt_spec do2 = GPIO_DT_SPEC_GET(USER_NODE, do2_gpios);
+static const struct gpio_dt_spec do2   = GPIO_DT_SPEC_GET(USER_NODE, do2_gpios);
 static const struct gpio_dt_spec do_en = GPIO_DT_SPEC_GET(USER_NODE, do_en_gpios);
 
-void digital_out_init(void) {
+/* === Counter device (Timer3) === */
+#define COUNTER_NODE DT_NODELABEL(timer3)
+static const struct device *counter_dev = DEVICE_DT_GET(COUNTER_NODE);
+
+/* === Constants === */
+#define MOTOR_FREQ_HZ   200
+#define MOTOR_PERIOD_US (USEC_PER_SEC / MOTOR_FREQ_HZ)
+
+#define SERVO_FREQ_HZ   50
+#define SERVO_PERIOD_US (USEC_PER_SEC / SERVO_FREQ_HZ)
+
+/* Servo duty cycle limits */
+#define SERVO_MIN_PULSE_US (SERVO_PERIOD_US * 5 / 100)   /* 5% → 1 ms */
+#define SERVO_MAX_PULSE_US (SERVO_PERIOD_US * 10 / 100)  /* 10% → 2 ms */
+
+/* === State === */
+static enum actuator_mode current_mode;
+static bool initialized = false;
+static int motor_speed = 0;   /* -100..100 */
+static int servo_angle = 0;   /* -90..90 */
+
+static struct counter_alarm_cfg alarm_cfg;
+static bool active_phase = false;
+
+/* === Forward declarations === */
+static void pwm_isr(const struct device *dev,
+                    uint8_t chan_id,
+                    uint32_t ticks,
+                    void *user_data);
+
+/* === Helpers === */
+static int configure_gpio(void)
+{
+    if (!device_is_ready(do1.port) || !device_is_ready(do2.port) || !device_is_ready(do_en.port)) {
+        LOG_ERR("GPIO device not ready");
+        return -ENODEV;
+    }
+
     gpio_pin_configure_dt(&do1, GPIO_OUTPUT_INACTIVE);
     gpio_pin_configure_dt(&do2, GPIO_OUTPUT_INACTIVE);
     gpio_pin_configure_dt(&do_en, GPIO_OUTPUT_INACTIVE);
+    return 0;
 }
 
-void digital_out_set_do1(int state) { gpio_pin_set_dt(&do1, state); }
+static void start_counter(uint32_t us)
-void digital_out_set_do2(int state) { gpio_pin_set_dt(&do2, state); }
+{
-void digital_out_set_do_en(int state) { gpio_pin_set_dt(&do_en, state); }
+    uint32_t now_ticks;
-void digital_out_toggle_do1(void) { gpio_pin_toggle_dt(&do1); }
+    int err = counter_get_value(counter_dev, &now_ticks);
-void digital_out_toggle_do2(void) { gpio_pin_toggle_dt(&do2); }
+    if (err)
-void digital_out_toggle_do_en(void) { gpio_pin_toggle_dt(&do_en); }
+    {
+        LOG_ERR("Failed to get counter value (%d)", err);
+        return;
+    }
+
+    uint32_t delay_ticks = counter_us_to_ticks(counter_dev, us);
+    uint32_t next_ticks = now_ticks + delay_ticks;
+
+    alarm_cfg.flags = COUNTER_ALARM_CFG_ABSOLUTE;
+    alarm_cfg.ticks = next_ticks;
+    alarm_cfg.callback = pwm_isr;
+    alarm_cfg.user_data = NULL;
+
+    counter_set_channel_alarm(counter_dev, 0, &alarm_cfg);
+}
+
+/* === ISR callback === */
+static void pwm_isr(const struct device *dev,
+                    uint8_t chan_id,
+                    uint32_t ticks,
+                    void *user_data)
+{
+    ARG_UNUSED(dev);
+    ARG_UNUSED(chan_id);
+    ARG_UNUSED(ticks);
+    ARG_UNUSED(user_data);
+
+    if (current_mode == ACTUATOR_MODE_MOTOR) {
+        if (motor_speed == 0) {
+            /* Brake mode */
+            gpio_pin_set_dt(&do1, 1);
+            gpio_pin_set_dt(&do2, 1);
+            return;
+        }
+
+        if (!active_phase) {
+            /* Start ON phase */
+            if (motor_speed > 0) {
+                gpio_pin_set_dt(&do1, 1);
+                gpio_pin_set_dt(&do2, 0);
+            } else {
+                gpio_pin_set_dt(&do1, 0);
+                gpio_pin_set_dt(&do2, 1);
+            }
+            uint32_t duty_us = (MOTOR_PERIOD_US * abs(motor_speed)) / 100;
+            start_counter(duty_us);
+            active_phase = true;
+        } else {
+            /* Start OFF (coast) phase */
+            gpio_pin_set_dt(&do1, 0);
+            gpio_pin_set_dt(&do2, 0);
+            uint32_t off_time = MOTOR_PERIOD_US - (MOTOR_PERIOD_US * abs(motor_speed)) / 100;
+            start_counter(off_time);
+            active_phase = false;
+        }
+    }
+    else if (current_mode == ACTUATOR_MODE_SERVO) {
+        if (!active_phase) {
+            /* Start ON phase */
+            gpio_pin_set_dt(&do1, 1);
+            gpio_pin_set_dt(&do2, 1);
+            uint32_t duty_us = SERVO_MIN_PULSE_US +
+                (servo_angle + 90) * (SERVO_MAX_PULSE_US - SERVO_MIN_PULSE_US) / 180;
+            start_counter(duty_us);
+            active_phase = true;
+        } else {
+            /* Start OFF phase */
+            gpio_pin_set_dt(&do2, 0);
+            uint32_t off_time = SERVO_PERIOD_US -
+                (SERVO_MIN_PULSE_US + (servo_angle + 90) * (SERVO_MAX_PULSE_US - SERVO_MIN_PULSE_US) / 180);
+            start_counter(off_time);
+            active_phase = false;
+        }
+    }
+}
+
+/* === API implementation === */
+int actuator_init(enum actuator_mode mode)
+{
+    int ret = configure_gpio();
+    if (ret) return ret;
+
+    if (!device_is_ready(counter_dev)) {
+        LOG_ERR("Counter device not ready");
+        return -ENODEV;
+    }
+
+    counter_start(counter_dev);
+
+    current_mode = mode;
+    initialized = true;
+    active_phase = false;
+    LOG_INF("Actuator initialized in mode %d", mode);
+
+    return 0;
+}
+
+int actuator_enable(bool enable)
+{
+    if (!initialized) return -EACCES;
+    return gpio_pin_set_dt(&do_en, enable ? 1 : 0);
+}
+
+int actuator_motor_set_speed(int speed_percent)
+{
+    if (!initialized || current_mode != ACTUATOR_MODE_MOTOR) return -EACCES;
+    if (speed_percent < -100) speed_percent = -100;
+    if (speed_percent > 100)  speed_percent = 100;
+
+    motor_speed = speed_percent;
+    active_phase = false;
+    start_counter(1); /* trigger ISR soon */
+    return 0;
+}
+
+int actuator_servo_set_angle(int angle_deg)
+{
+    if (!initialized || current_mode != ACTUATOR_MODE_SERVO) return -EACCES;
+    if (angle_deg < -90) angle_deg = -90;
+    if (angle_deg > 90)  angle_deg = 90;
+
+    servo_angle = angle_deg;
+    active_phase = false;
+    start_counter(1); /* trigger ISR soon */
+    return 0;
+}

drivers/actuator/actuator.h

@@ -1,12 +1,25 @@
-#ifndef ACTUATOR_H
+#ifndef ACTUATOR_H_
-#define ACTUATOR_H
+#define ACTUATOR_H_
 
-void digital_out_init(void);
+#include <zephyr/device.h>
-void digital_out_set_do1(int state);
+#include <zephyr/drivers/gpio.h>
-void digital_out_set_do2(int state);
+#include <zephyr/drivers/counter.h>
-void digital_out_set_do_en(int state);
+#include <stdbool.h>
-void digital_out_toggle_do1(void);
-void digital_out_toggle_do2(void);
-void digital_out_toggle_do_en(void);
 
-#endif // ACTUATOR_H
+/* Actuator modes */
+enum actuator_mode {
+    ACTUATOR_MODE_MOTOR = 0,
+    ACTUATOR_MODE_SERVO,
+};
+
+/* Public API */
+int actuator_init(enum actuator_mode mode);
+int actuator_enable(bool enable);
+
+/* Motor mode */
+int actuator_motor_set_speed(int speed_percent); // -100..100 %
+
+/* Servo mode */
+int actuator_servo_set_angle(int angle_deg);     // -90..90 degrees
+
+#endif /* ACTUATOR_H_ */

prj.conf

@@ -21,4 +21,6 @@ CONFIG_USB_CDC_ACM=y
 CONFIG_USB_DEVICE_PRODUCT="Zephyr USB console sample"
 
 # STEP 1.1 - Enable MCUboot 
-CONFIG_BOOTLOADER_MCUBOOT=y
+CONFIG_BOOTLOADER_MCUBOOT=y
+
+CONFIG_COUNTER=y

src/main.c

@@ -27,10 +27,13 @@ int main(void)
         return 0;
     }
 
+    actuator_init(ACTUATOR_MODE_MOTOR);
+    actuator_enable(1);
+
+    actuator_motor_set_speed(50); // -100..100 %
     /* Init modules */
     led_init();
     button_init();
-    digital_out_init();
     ret = battery_adc_init();
     if (ret < 0)
     {
@@ -95,9 +98,6 @@ int main(void)
             if (old_val != val)
             {
                 out_en = !out_en;
-                digital_out_toggle_do1();
-                digital_out_toggle_do2();
-                digital_out_toggle_do_en();
                 led_toggle(1); // toggle LED1 on press
                 old_val = val;
             }