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- #include "DRV2605L.h"
- #include "print.h"
- #include <stdlib.h>
- #include <stdio.h>
- #include <math.h>
- uint8_t DRV2605L_transfer_buffer[20];
- uint8_t DRV2605L_tx_register[0];
- uint8_t DRV2605L_read_buffer[0];
- uint8_t DRV2605L_read_register;
- void DRV_write(uint8_t drv_register, uint8_t settings) {
- DRV2605L_transfer_buffer[0] = drv_register;
- DRV2605L_transfer_buffer[1] = settings;
- i2c_transmit(DRV2605L_BASE_ADDRESS << 1, DRV2605L_transfer_buffer, 2, 100);
- }
- uint8_t DRV_read(uint8_t regaddress) {
- DRV2605L_tx_register[0] = regaddress;
- if (MSG_OK != i2c_transmit_receive(DRV2605L_BASE_ADDRESS << 1,
- DRV2605L_tx_register, 1,
- DRV2605L_read_buffer, 1
- )){
- printf("err reading reg \n");
- }
- DRV2605L_read_register = (uint8_t)DRV2605L_read_buffer[0];
- return DRV2605L_read_register;
- }
- void DRV_init(void)
- {
- i2c_init();
- i2c_start(DRV2605L_BASE_ADDRESS);
-
- DRV_write(DRV_MODE,0x07);
-
- #if FB_ERM_LRA == 0
-
- DRV_write(DRV_RATED_VOLT, (RATED_VOLTAGE/21.33)*1000);
- #if ERM_OPEN_LOOP == 0
- DRV_write(DRV_OVERDRIVE_CLAMP_VOLT, (((V_PEAK*(DRIVE_TIME+BLANKING_TIME+IDISS_TIME))/0.02133)/(DRIVE_TIME-0.0003)));
- #elif ERM_OPEN_LOOP == 1
- DRV_write(DRV_OVERDRIVE_CLAMP_VOLT, (V_PEAK/0.02196));
- #endif
- #elif FB_ERM_LRA == 1
- DRV_write(DRV_RATED_VOLT, ((V_RMS * sqrt(1 - ((4 * ((150+(SAMPLE_TIME*50))*0.000001)) + 0.0003)* F_LRA)/0.02071)));
- #if LRA_OPEN_LOOP == 0
- DRV_write(DRV_OVERDRIVE_CLAMP_VOLT, ((V_PEAK/sqrt(1-(F_LRA*0.0008))/0.02133)));
- #elif LRA_OPEN_LOOP == 1
- DRV_write(DRV_OVERDRIVE_CLAMP_VOLT, (V_PEAK/0.02196));
- #endif
- #endif
-
- DRVREG_FBR FB_SET;
- FB_SET.Bits.ERM_LRA = FB_ERM_LRA;
- FB_SET.Bits.BRAKE_FACTOR = FB_BRAKEFACTOR;
- FB_SET.Bits.LOOP_GAIN =FB_LOOPGAIN;
- FB_SET.Bits.BEMF_GAIN = 0;
- DRV_write(DRV_FEEDBACK_CTRL, (uint8_t) FB_SET.Byte);
- DRVREG_CTRL1 C1_SET;
- C1_SET.Bits.C1_DRIVE_TIME = DRIVE_TIME;
- C1_SET.Bits.C1_AC_COUPLE = AC_COUPLE;
- C1_SET.Bits.C1_STARTUP_BOOST = STARTUP_BOOST;
- DRV_write(DRV_CTRL_1, (uint8_t) C1_SET.Byte);
- DRVREG_CTRL2 C2_SET;
- C2_SET.Bits.C2_BIDIR_INPUT = BIDIR_INPUT;
- C2_SET.Bits.C2_BRAKE_STAB = BRAKE_STAB;
- C2_SET.Bits.C2_SAMPLE_TIME = SAMPLE_TIME;
- C2_SET.Bits.C2_BLANKING_TIME = BLANKING_TIME;
- C2_SET.Bits.C2_IDISS_TIME = IDISS_TIME;
- DRV_write(DRV_CTRL_2, (uint8_t) C2_SET.Byte);
- DRVREG_CTRL3 C3_SET;
- C3_SET.Bits.C3_LRA_OPEN_LOOP = LRA_OPEN_LOOP;
- C3_SET.Bits.C3_N_PWM_ANALOG = N_PWM_ANALOG;
- C3_SET.Bits.C3_LRA_DRIVE_MODE = LRA_DRIVE_MODE;
- C3_SET.Bits.C3_DATA_FORMAT_RTO = DATA_FORMAT_RTO;
- C3_SET.Bits.C3_SUPPLY_COMP_DIS = SUPPLY_COMP_DIS;
- C3_SET.Bits.C3_ERM_OPEN_LOOP = ERM_OPEN_LOOP;
- C3_SET.Bits.C3_NG_THRESH = NG_THRESH;
- DRV_write(DRV_CTRL_3, (uint8_t) C3_SET.Byte);
- DRVREG_CTRL4 C4_SET;
- C4_SET.Bits.C4_ZC_DET_TIME = ZC_DET_TIME;
- C4_SET.Bits.C4_AUTO_CAL_TIME = AUTO_CAL_TIME;
- DRV_write(DRV_CTRL_4, (uint8_t) C4_SET.Byte);
- DRV_write(DRV_LIB_SELECTION,LIB_SELECTION);
-
- DRV_write(DRV_GO, 0x01);
-
- DRV_write(DRV_MODE,0x00);
-
-
- DRV_write(DRV_WAVEFORM_SEQ_1, 0x01);
-
-
-
- }
- void DRV_pulse(uint8_t sequence)
- {
- DRV_write(DRV_GO, 0x00);
- DRV_write(DRV_WAVEFORM_SEQ_1, sequence);
- DRV_write(DRV_GO, 0x01);
- }
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