Diff: DRV8830.h

Revision:

0:05db098cf4f8

Child:

1:a9b58bc85be0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DRV8830.h	Sat Aug 23 11:18:06 2014 +0000
@@ -0,0 +1,114 @@
+/*
+ * 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.
+ */
+
+#ifndef        MBED_DRV8830
+#define        MBED_DRV8830
+
+// DRV8830 LOW-VOLTAGE MOTOR DRIVER WITH SERIAL INTERFACE
+//  7bit address = 0b01100000(0x60) -> 8bit = 0b11000000(0xc0) -> 0xc1(Read) or 0xc0(Write)
+//  ADDR_01 = (A1=0)+(A0=1), ADDR_1N = (A1=1)+(A0=No Connection)
+//      -> Please make sure your H/W configuration
+#define DRV8830ADDR_00          0xc0
+#define DRV8830ADDR_0N          0xc2
+#define DRV8830ADDR_01          0xc4
+#define DRV8830ADDR_N0          0xc6
+#define DRV8830ADDR_NN          0xc8
+#define DRV8830ADDR_N1          0xca
+#define DRV8830ADDR_10          0xcc
+#define DRV8830ADDR_1N          0xce
+#define DRV8830ADDR_11          0xd0
+
+//  fault status
+#define DRV8830_F_ILIMIT        0x10
+#define DRV8830_F_OTS           0x08
+#define DRV8830_F_UVLO          0x04
+#define DRV8830_F_OCP           0x02
+#define DRV8830_F_FAULT         0x01
+
+/** DRV8830 class
+ *
+ *  This is a driver code for the DRV8830 H-Bridge Voltage-Controlled Motor Driver.
+ *    http://www.ti.com/product/drv8830
+ *
+ * @code
+ * #include "mbed.h"
+ * #include "DRV8830.h"
+ *
+ * // I2C Communication
+ * DRV8830 motor(PinName p_sda, PinName p_scl, addr);
+ * // If you connected I2C line not only this device but also other devices,
+ * //     you need to declare following method.
+ * I2C     i2c(PinName p_sda, PinName p_scl);
+ * DRV8830 motor(I2C& p_i2c, addr);
+ * 
+ * int main() {
+ * uint8_t status;
+ *    
+ *     //  Speed control
+ *     motor.speed(0.5);    // CW
+ *     motor.speed(-0.5);   // CCW
+ *     motor.speed(0.0);    // Stop(FREE)
+ *     //  Check error and reset
+ *     status = motor.status();
+ *     if (status & DRV8830_F_FAULT){
+ *        motor.reset();
+ *     } 
+ * }
+ *  @endcode
+ */
+
+class DRV8830 {
+public:
+    /** Configure data pin
+      * @param data SDA and SCL pins
+      * @param DRV8830 address (H/W configuration of A1,A0)
+      */
+    DRV8830(PinName p_sda, PinName p_scl, uint8_t addr);
+    
+    /** Configure data pin (with other devices on I2C line)
+      * @param I2C previous definition
+      * @param DRV8830 address (H/W configuration of A1,A0)
+      */
+    DRV8830(I2C& p_i2c, uint8_t addr);
+
+    /** Set motor speed
+      * @param speed (Range 0 to 1.0 or 0 to -1.0)
+      * @return none
+      */
+    void speed(float speed);
+    
+    /** Read status
+      * @param none
+      * @return FAULT register content
+      */
+    uint8_t status();
+
+    /** Reset DRV8830 chip
+      * @param none
+      * @return none
+      */
+    void reset();
+
+protected:
+    I2C i2c;
+
+private:
+    char DRV8830_addr;
+};
+
+#endif  //  MBED_DRV8830