Shao Rui / HKC_MiniCheetah

1

Dependencies:   mbed-dev-f303 FastPWM3

DRV8323/DRV.h@44:8040fa2fcb0d, 2018-06-11 (annotated)

Committer:
benkatz
Date:
Mon Jun 11 00:04:06 2018 +0000
Revision:
44:8040fa2fcb0d
Child:
45:26801179208e
new drv chip working;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 44:8040fa2fcb0d 1 #ifndef DRV_H
benkatz 44:8040fa2fcb0d 2 #define DRV_H
benkatz 44:8040fa2fcb0d 3
benkatz 44:8040fa2fcb0d 4 /// Registers ///
benkatz 44:8040fa2fcb0d 5 #define FSR1 0x0 ///Fault Status Register 1///
benkatz 44:8040fa2fcb0d 6 #define FSR2 0x1 ///Fault Status Register 2///
benkatz 44:8040fa2fcb0d 7 #define DCR 0x2 ///Drive Control Register///
benkatz 44:8040fa2fcb0d 8 #define HSR 0x3 ///Gate Drive HS Register///
benkatz 44:8040fa2fcb0d 9 #define LSR 0x4 ///Gate Drive LS Register///
benkatz 44:8040fa2fcb0d 10 #define OCPCR 0x5 ///OCP Control Register///
benkatz 44:8040fa2fcb0d 11 #define CSACR 0x6 ///CSA Control Register///
benkatz 44:8040fa2fcb0d 12
benkatz 44:8040fa2fcb0d 13 #define PWM_MODE_6X 0x0 ///PWM Input Modes///
benkatz 44:8040fa2fcb0d 14 #define PWM_MODE_3X 0x1
benkatz 44:8040fa2fcb0d 15 #define PWM_MODE_1X 0x2
benkatz 44:8040fa2fcb0d 16 #define PWM_MODE_IND 0x3
benkatz 44:8040fa2fcb0d 17 #define CSA_GAIN_5 0x0 ///Current Sensor Gain///
benkatz 44:8040fa2fcb0d 18 #define CSA_GAIN_10 0x1
benkatz 44:8040fa2fcb0d 19 #define CSA_GAIN_20 0x2
benkatz 44:8040fa2fcb0d 20 #define CSA_GAIN_40 0x3
benkatz 44:8040fa2fcb0d 21 #define DIS_SEN_EN 0x0 ///Overcurrent Fault
benkatz 44:8040fa2fcb0d 22 #define DIS_SEN_DIS 0x1
benkatz 44:8040fa2fcb0d 23
benkatz 44:8040fa2fcb0d 24 class DRV832x {
benkatz 44:8040fa2fcb0d 25 public:
benkatz 44:8040fa2fcb0d 26 DRV832x(SPI *spi, DigitalOut *cs);
benkatz 44:8040fa2fcb0d 27 int read_FSR1();
benkatz 44:8040fa2fcb0d 28 int read_FSR2();
benkatz 44:8040fa2fcb0d 29 int read_register(int reg);
benkatz 44:8040fa2fcb0d 30 void write_register(int reg, int val);
benkatz 44:8040fa2fcb0d 31 void write_DCR(int DIS_CPUV, int DIS_GDF, int OTW_REP, int PWM_MODE, int PWM_COM, int PWM_DIR, int COAST, int BRAKE, int CLR_FLT);
benkatz 44:8040fa2fcb0d 32 void write_HSR(int LOCK, int IDRIVEP_HS, int IDRIVEN_HS);
benkatz 44:8040fa2fcb0d 33 void write_LSR(int CBC, int TDRIVE, int IDRIVEP_LS, int IDRIVEN_LS);
benkatz 44:8040fa2fcb0d 34 void write_OCPCR(int TRETRY, int DEAD_TIME, int OCP_MODE, int OCP_DEG, int VDS_LVL);
benkatz 44:8040fa2fcb0d 35 void write_CSACR(int CSA_FET, int VREF_DIV, int LS_REF, int CSA_GAIN, int DIS_SEN, int CSA_CAL_A, int CSA_CAL_B, int CSA_CAL_C, int SEN_LVL);
benkatz 44:8040fa2fcb0d 36 void enable_gd(void);
benkatz 44:8040fa2fcb0d 37 void disable_gd(void);
benkatz 44:8040fa2fcb0d 38 void print_faults();
benkatz 44:8040fa2fcb0d 39
benkatz 44:8040fa2fcb0d 40 private:
benkatz 44:8040fa2fcb0d 41 SPI *_spi;
benkatz 44:8040fa2fcb0d 42 DigitalOut *_cs;
benkatz 44:8040fa2fcb0d 43 uint16_t spi_write(uint16_t val);
benkatz 44:8040fa2fcb0d 44 };
benkatz 44:8040fa2fcb0d 45
benkatz 44:8040fa2fcb0d 46 #endif