Kenji Arai / DRV8830

DRV8830/Texas Instruments H-Bridge Voltage-Controlled Motor Driver library for Brushed DC Motor

Dependents:   NucleoF401_motor_test_simple Frequency_Counter_w_GPS_1PPS Nucleo_ACM1602_I2C_DC_Angle Frequency_Cntr_1PPS_F746ZG

DRV8830.cpp@4:323a62f5fff3, 2017-08-23 (annotated)

Committer:
kenjiArai
Date:
Wed Aug 23 09:24:05 2017 +0000
Revision:
4:323a62f5fff3
Parent:
3:98a9369ed390 
countermeasure for  NonCopyable

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kenjiArai 0:05db098cf4f8 1 /*
kenjiArai 0:05db098cf4f8 2 * mbed library program
kenjiArai 0:05db098cf4f8 3 * Texas Instruments / DRV8830 H-Bridge Voltage-Controlled Motor Driver
kenjiArai 0:05db098cf4f8 4 * http://www.ti.com/product/drv8830
kenjiArai 0:05db098cf4f8 5 *
kenjiArai 4:323a62f5fff3 6 * Copyright (c) 2014,'17 Kenji Arai / JH1PJL
kenjiArai 0:05db098cf4f8 7 * http://www.page.sannet.ne.jp/kenjia/index.html
kenjiArai 0:05db098cf4f8 8 * http://mbed.org/users/kenjiArai/
kenjiArai 4:323a62f5fff3 9 * Created: August 6th, 2014
kenjiArai 4:323a62f5fff3 10 * Revised: August 23rd, 2017
kenjiArai 0:05db098cf4f8 11 */
kenjiArai 0:05db098cf4f8 12
kenjiArai 0:05db098cf4f8 13 #include "mbed.h"
kenjiArai 0:05db098cf4f8 14 #include "DRV8830.h"
kenjiArai 0:05db098cf4f8 15
kenjiArai 0:05db098cf4f8 16 // motor status
kenjiArai 0:05db098cf4f8 17 #define DRV8830_FREE 0x00
kenjiArai 0:05db098cf4f8 18 #define DRV8830_CW 0x01
kenjiArai 0:05db098cf4f8 19 #define DRV8830_CCW 0x02
kenjiArai 0:05db098cf4f8 20 #define DRV8830_BREAK 0x03
kenjiArai 0:05db098cf4f8 21
kenjiArai 0:05db098cf4f8 22 // register address
kenjiArai 0:05db098cf4f8 23 #define DRV8830_CONTROL 0x00
kenjiArai 0:05db098cf4f8 24 #define DRV8830_FAULT 0x01
kenjiArai 0:05db098cf4f8 25
kenjiArai 0:05db098cf4f8 26 // voltage data
kenjiArai 0:05db098cf4f8 27 #define DRV8830_V_R48 0x06
kenjiArai 0:05db098cf4f8 28 #define DRV8830_V_R56 0x07
kenjiArai 0:05db098cf4f8 29 #define DRV8830_V_R64 0x08
kenjiArai 0:05db098cf4f8 30 #define DRV8830_V_R72 0x09
kenjiArai 0:05db098cf4f8 31 // (no definition from 0.82V to 4.74V)
kenjiArai 0:05db098cf4f8 32 #define DRV8830_V_4R82 0x3c
kenjiArai 0:05db098cf4f8 33 #define DRV8830_V_4R90 0x3d
kenjiArai 0:05db098cf4f8 34 #define DRV8830_V_4R98 0x3e
kenjiArai 0:05db098cf4f8 35 #define DRV8830_V_5R06 0x3f
kenjiArai 0:05db098cf4f8 36
kenjiArai 0:05db098cf4f8 37 #define DRV8830_V_MIN 0x06
kenjiArai 0:05db098cf4f8 38 #define DRV8830_V_MAX 0x3f
kenjiArai 0:05db098cf4f8 39 #define DRV8830_V_RANGE (DRV8830_V_MAX - DRV8830_V_MIN)
kenjiArai 0:05db098cf4f8 40
kenjiArai 0:05db098cf4f8 41 // fault status
kenjiArai 0:05db098cf4f8 42 #define DRV8830_F_CLEAR 0x80
kenjiArai 0:05db098cf4f8 43
kenjiArai 1:a9b58bc85be0 44 // Voltage Control
kenjiArai 1:a9b58bc85be0 45 #define DRV8830_FREE 0x00
kenjiArai 1:a9b58bc85be0 46 #define DRV8830_POSI 0x01
kenjiArai 1:a9b58bc85be0 47 #define DRV8830_NEGA 0x02
kenjiArai 1:a9b58bc85be0 48 #define DRV8830_BREAK 0x03
kenjiArai 1:a9b58bc85be0 49
kenjiArai 1:a9b58bc85be0 50 // Voltage table
kenjiArai 1:a9b58bc85be0 51 #define TBL_OFFSET 0x06
kenjiArai 1:a9b58bc85be0 52 #define TBL_SIZE 58
kenjiArai 1:a9b58bc85be0 53 #define TBL_MAX_VALUE (5.06f)
kenjiArai 1:a9b58bc85be0 54 #define TBL_MIN_VALUE (0.48f)
kenjiArai 1:a9b58bc85be0 55
kenjiArai 1:a9b58bc85be0 56 const float voltage_table [] = {
kenjiArai 1:a9b58bc85be0 57 0.48, 0.56, 0.64, 0.72, 0.80, 0.88, 0.96, 1.04,
kenjiArai 1:a9b58bc85be0 58 1.12, 1.20, 1.29, 1.37, 1.45, 1.53, 1.61, 1.69,
kenjiArai 1:a9b58bc85be0 59 1.77, 1.85, 1.93, 2.01, 2.09, 2.17, 2.25, 2.33,
kenjiArai 1:a9b58bc85be0 60 2.41, 2.49, 2.57, 2.65, 2.73, 2.81, 2.89, 2.97,
kenjiArai 1:a9b58bc85be0 61 3.05, 3.13, 3.21, 3.29, 3.37, 3.45, 3.53, 3.61,
kenjiArai 1:a9b58bc85be0 62 3.69, 3.77, 3.86, 3.94, 4.02, 4.10, 4.18, 4.26,
kenjiArai 1:a9b58bc85be0 63 4.34, 4.42, 4.50, 4.58, 4.66, 4.74, 4.82, 4.90,
kenjiArai 1:a9b58bc85be0 64 4.98, 5.06
kenjiArai 1:a9b58bc85be0 65 };
kenjiArai 1:a9b58bc85be0 66
kenjiArai 4:323a62f5fff3 67 DRV8830::DRV8830 (PinName p_sda, PinName p_scl, uint8_t addr)
kenjiArai 4:323a62f5fff3 68 : _i2c_p(new I2C(p_sda, p_scl)), _i2c(*_i2c_p)
kenjiArai 4:323a62f5fff3 69 {
kenjiArai 0:05db098cf4f8 70 DRV8830_addr = (char)addr;
kenjiArai 0:05db098cf4f8 71 }
kenjiArai 0:05db098cf4f8 72
kenjiArai 4:323a62f5fff3 73 DRV8830::DRV8830 (I2C& p_i2c, uint8_t addr)
kenjiArai 4:323a62f5fff3 74 : _i2c(p_i2c)
kenjiArai 4:323a62f5fff3 75 {
kenjiArai 0:05db098cf4f8 76 DRV8830_addr = (char)addr;
kenjiArai 0:05db098cf4f8 77 }
kenjiArai 0:05db098cf4f8 78
kenjiArai 0:05db098cf4f8 79 void DRV8830::speed(float speed) {
kenjiArai 0:05db098cf4f8 80 uint8_t direction = 0;
kenjiArai 0:05db098cf4f8 81 uint8_t pwm_rate = 0;
kenjiArai 0:05db098cf4f8 82 uint8_t dt[2];
kenjiArai 0:05db098cf4f8 83
kenjiArai 3:98a9369ed390 84 if (speed == 0.0f ){
kenjiArai 0:05db098cf4f8 85 pwm_rate = DRV8830_V_MIN;
kenjiArai 0:05db098cf4f8 86 direction = DRV8830_FREE;
kenjiArai 3:98a9369ed390 87 } else if (speed > 0.0f){
kenjiArai 0:05db098cf4f8 88 pwm_rate = (uint8_t)(DRV8830_V_RANGE * speed) + DRV8830_V_MIN;
kenjiArai 0:05db098cf4f8 89 direction = DRV8830_CW;
kenjiArai 3:98a9369ed390 90 } else if (speed < 0.0f){
kenjiArai 3:98a9369ed390 91 speed *= -1.0f;
kenjiArai 0:05db098cf4f8 92 pwm_rate = (uint8_t)(DRV8830_V_RANGE * speed) + DRV8830_V_MIN;
kenjiArai 0:05db098cf4f8 93 direction = DRV8830_CCW;
kenjiArai 0:05db098cf4f8 94 }
kenjiArai 0:05db098cf4f8 95 if (pwm_rate > DRV8830_V_MAX){
kenjiArai 0:05db098cf4f8 96 pwm_rate = DRV8830_V_MAX;
kenjiArai 0:05db098cf4f8 97 } else if (pwm_rate < DRV8830_V_MIN){
kenjiArai 0:05db098cf4f8 98 pwm_rate = DRV8830_V_MIN;
kenjiArai 0:05db098cf4f8 99 }
kenjiArai 0:05db098cf4f8 100 dt[0] = DRV8830_CONTROL;
kenjiArai 0:05db098cf4f8 101 dt[1] = (pwm_rate << 2) + direction;
kenjiArai 4:323a62f5fff3 102 _i2c.write((int)DRV8830_addr, (char *)dt, 2);
kenjiArai 0:05db098cf4f8 103 }
kenjiArai 0:05db098cf4f8 104
kenjiArai 1:a9b58bc85be0 105 void DRV8830::set_voltage(float volt) {
kenjiArai 1:a9b58bc85be0 106 uint8_t direction = 0;
kenjiArai 1:a9b58bc85be0 107 uint8_t pwm_rate = 0;
kenjiArai 1:a9b58bc85be0 108 uint8_t dt[2];
kenjiArai 1:a9b58bc85be0 109
kenjiArai 1:a9b58bc85be0 110 if (volt < 0){
kenjiArai 1:a9b58bc85be0 111 direction = DRV8830_NEGA;
kenjiArai 1:a9b58bc85be0 112 volt *= -1;
kenjiArai 1:a9b58bc85be0 113 } else {
kenjiArai 1:a9b58bc85be0 114 direction = DRV8830_POSI;
kenjiArai 1:a9b58bc85be0 115 }
kenjiArai 1:a9b58bc85be0 116 if (volt >= TBL_MAX_VALUE) {
kenjiArai 1:a9b58bc85be0 117 pwm_rate = TBL_SIZE + TBL_OFFSET - 1;
kenjiArai 1:a9b58bc85be0 118 } else {
kenjiArai 1:a9b58bc85be0 119 for (uint32_t i = 0; i < TBL_SIZE; i++){
kenjiArai 1:a9b58bc85be0 120 if (volt < voltage_table[i]) {
kenjiArai 1:a9b58bc85be0 121 //printf("n=%d, voltage_table[i]=%f\r\n", i, voltage_table[i]);
kenjiArai 1:a9b58bc85be0 122 if (i == 0){
kenjiArai 1:a9b58bc85be0 123 pwm_rate = 0;
kenjiArai 1:a9b58bc85be0 124 direction = DRV8830_FREE;
kenjiArai 1:a9b58bc85be0 125 } else {
kenjiArai 1:a9b58bc85be0 126 pwm_rate = i + TBL_OFFSET;
kenjiArai 1:a9b58bc85be0 127 }
kenjiArai 1:a9b58bc85be0 128 break;
kenjiArai 1:a9b58bc85be0 129 }
kenjiArai 1:a9b58bc85be0 130 }
kenjiArai 1:a9b58bc85be0 131 }
kenjiArai 1:a9b58bc85be0 132 //printf("volt=%f, pwm=0x%x, dir=%d\r\n", volt, pwm_rate, direction);
kenjiArai 1:a9b58bc85be0 133 dt[0] = DRV8830_CONTROL;
kenjiArai 1:a9b58bc85be0 134 dt[1] = (pwm_rate << 2) + direction;
kenjiArai 4:323a62f5fff3 135 _i2c.write((int)DRV8830_addr, (char *)dt, 2);
kenjiArai 1:a9b58bc85be0 136 }
kenjiArai 1:a9b58bc85be0 137
kenjiArai 0:05db098cf4f8 138 uint8_t DRV8830::status() {
kenjiArai 0:05db098cf4f8 139 uint8_t dt[2];
kenjiArai 0:05db098cf4f8 140
kenjiArai 0:05db098cf4f8 141 dt[0] = DRV8830_FAULT;
kenjiArai 4:323a62f5fff3 142 _i2c.write((int)DRV8830_addr, (char *)dt, 1); // write register address
kenjiArai 4:323a62f5fff3 143 _i2c.read((int)DRV8830_addr, (char *)dt, 1); // read register content
kenjiArai 0:05db098cf4f8 144 return dt[0];
kenjiArai 0:05db098cf4f8 145 }
kenjiArai 0:05db098cf4f8 146
kenjiArai 0:05db098cf4f8 147 void DRV8830::reset() {
kenjiArai 0:05db098cf4f8 148 uint8_t dt[2];
kenjiArai 0:05db098cf4f8 149
kenjiArai 0:05db098cf4f8 150 dt[0] = DRV8830_FAULT;
kenjiArai 0:05db098cf4f8 151 dt[1] = DRV8830_F_CLEAR;
kenjiArai 4:323a62f5fff3 152 _i2c.write((int)DRV8830_addr, (char *)dt, 2);
kenjiArai 0:05db098cf4f8 153 }
kenjiArai 1:a9b58bc85be0 154
kenjiArai 4:323a62f5fff3 155
kenjiArai 4:323a62f5fff3 156