Diff: DRV8830.cpp

Revision:

0:05db098cf4f8

Child:

1:a9b58bc85be0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DRV8830.cpp	Sat Aug 23 11:18:06 2014 +0000
@@ -0,0 +1,99 @@
+/*
+ * mbed library program 
+ *  Texas Instruments / DRV8830 H-Bridge Voltage-Controlled Motor Driver
+ *      http://www.ti.com/product/drv8830
+ *
+ * Copyright (c) 2014 Kenji Arai / JH1PJL
+ *  http://www.page.sannet.ne.jp/kenjia/index.html
+ *  http://mbed.org/users/kenjiArai/
+ *      Created: August      6th, 2014 
+ *      Revised: August     16th, 2014
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+ * INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE
+ * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include    "mbed.h"
+#include    "DRV8830.h"
+
+//  motor status
+#define DRV8830_FREE            0x00
+#define DRV8830_CW              0x01
+#define DRV8830_CCW             0x02
+#define DRV8830_BREAK           0x03
+
+//  register address
+#define DRV8830_CONTROL         0x00
+#define DRV8830_FAULT           0x01
+
+//  voltage data
+#define DRV8830_V_R48           0x06
+#define DRV8830_V_R56           0x07
+#define DRV8830_V_R64           0x08
+#define DRV8830_V_R72           0x09
+    // (no definition from 0.82V to 4.74V)
+#define DRV8830_V_4R82          0x3c
+#define DRV8830_V_4R90          0x3d
+#define DRV8830_V_4R98          0x3e
+#define DRV8830_V_5R06          0x3f
+
+#define DRV8830_V_MIN           0x06
+#define DRV8830_V_MAX           0x3f
+#define DRV8830_V_RANGE         (DRV8830_V_MAX - DRV8830_V_MIN)
+
+//  fault status
+#define DRV8830_F_CLEAR         0x80
+
+DRV8830::DRV8830 (PinName p_sda, PinName p_scl, uint8_t addr) : i2c(p_sda, p_scl){
+    DRV8830_addr = (char)addr;
+}
+
+DRV8830::DRV8830 (I2C& p_i2c, uint8_t addr) : i2c(p_i2c){ 
+    DRV8830_addr = (char)addr;
+}
+
+void DRV8830::speed(float speed) {
+uint8_t direction = 0;
+uint8_t pwm_rate = 0;
+uint8_t dt[2];
+
+    if (speed == 0.0 ){
+        pwm_rate = DRV8830_V_MIN;
+        direction = DRV8830_FREE;
+    } else if (speed > 0.0){
+        pwm_rate = (uint8_t)(DRV8830_V_RANGE * speed) + DRV8830_V_MIN;
+        direction = DRV8830_CW;
+    } else if (speed < 0.0){
+        speed *= -1;
+        pwm_rate = (uint8_t)(DRV8830_V_RANGE * speed) + DRV8830_V_MIN;
+        direction = DRV8830_CCW;
+    }
+    if (pwm_rate > DRV8830_V_MAX){
+        pwm_rate = DRV8830_V_MAX;
+    } else if (pwm_rate < DRV8830_V_MIN){
+        pwm_rate = DRV8830_V_MIN;
+    }
+    dt[0] = DRV8830_CONTROL;
+    dt[1] = (pwm_rate << 2) + direction;
+    i2c.write((int)DRV8830_addr, (char *)dt, 2);
+}
+
+uint8_t DRV8830::status() {
+uint8_t dt[2];
+
+    dt[0] = DRV8830_FAULT;
+    i2c.write((int)DRV8830ADDR_00, (char *)dt, 1);  // write register address
+    i2c.read((int)DRV8830ADDR_00, (char *)dt, 1);   // read register content
+    return dt[0];
+}
+
+void DRV8830::reset() {
+uint8_t dt[2];
+
+    dt[0] = DRV8830_FAULT;
+    dt[1] = DRV8830_F_CLEAR;
+    i2c.write((int)DRV8830ADDR_00, (char *)dt, 2);
+}