#include "main.h"
#include "thread.h"
#include "GPIO.H"
#include "DR70X.h"
#include "Drive_time.h"
#include "drive_spi.h"
void delay(uint16_t n)
{
uint32_t i = 25;
while(i --);
}
void DR70x_Init(void)
{
SLEEP_LOW;
delay(1000);
SLEEP_HIGH; //nSleep high to power on DR70xQ
MODE_LOW; //Control Interface: Mode_0: PH/EN; Mode_1:Independent PWM Control Interface; Mode_2 Hiz: Standard PWM
TimePwm.Instance = 14;//PC12 IN2_EN
TimePwm.Period = 0x5dc0;
TimePwm.Pulse = 0x32;
Timex_Init(TimePwm.Instance);//24khz 50%pulse
TimePwm.Instance = 16;//PB8 IN1_PH
Timex_Init(TimePwm.Instance);//24khz
}
/*Mode_0: Take PH/EN control (MODE_LOW) as an example. other mode, pleaes refer to Table 14/15 in datasheet*/
//////////////////////////////////////////////////////
void DR70x_Mode0_Brake(void)
{
TimePwm.Instance = 16;//PC12 IN2_EN
TimePwm.Pulse = 0;
Timex_Start(TimePwm.Instance);
}
void DR70x_Mode0_Reverse(uint8_t pulse)
{
TimePwm.Instance = 14;//PB8 IN1_EN
TimePwm.Pulse = 0;
Timex_Start(TimePwm.Instance);
TimePwm.Instance = 16;//PC12 IN2_EN
TimePwm.Pulse = pulse;
Timex_Start(TimePwm.Instance);
}
void DR70x_Mode0_Forward(uint8_t pulse)
{
TimePwm.Instance = 14;//PB8 IN1_EN
TimePwm.Pulse = 100;
Timex_Start(TimePwm.Instance);
TimePwm.Instance = 16;//PC12 IN2_EN
TimePwm.Pulse = pulse;
Timex_Start(TimePwm.Instance);
}
//////////////////////////////////////////////////////
void DR70x_Transmit(uint8_t addess, uint8_t data)
{
uint8_t buff[2] = {0,0},buff1[2];
buff[0] = (addess << 3);
buff[1] = data;
DR703_SPI_TransmitReceive(buff,buff1,2);
}
uint8_t DR70x_Recive(uint8_t addess)
{
uint8_t buff[2] = {0,0},buff1[2];
buff[0] = (addess << 3) + 0x80;
DR703_SPI_TransmitReceive(buff,buff1,2);
return buff1[1];
}
#ifndef _DR70X_H_ #define _DR70X_H_ // Register Define //status registers #define REG_FaultStatus 0 #define REG_VDSAndSDFStatus 1 //control registers #define REG_MainControl 2 #define REG_IDRIVEAndWDControl 3 #define REG_VDSControl 4 #define REG_ConfigControl 5 //REG_FaultStatus #define BIT_FAULT 0x80 #define BIT_WDFLT 0x40 #define BIT_GDF 0x20 #define BIT_OCP 0x10 #define BIT_VM_UVFL 0x08 #define BIT_VCP_UVFL 0x04 #define BIT_OTSD 0x02 #define BIT_OTW 0x01 //REG_VDSAndSDFStatus #define BIT_H2_GDF 0x80 #define BIT_L2_GDF 0x40 #define BIT_H1_GDF 0x20 #define BIT_L1_GDF 0x10 #define BIT_H2_VDS 0x08 #define BIT_L2_VDS 0x04 #define BIT_H1_VDS 0x02 #define BIT_L1_VDS 0x01 //REG_MainControl #define LOCK 0X30 #define UNLOCK 0x18 //REG_IDRIVEAndWDControl #define TDEAD_120ns 0x00 #define TDEAD_240ns 0x40 #define TDEAD_480ns 0x80 #define TDEAD_960ns 0xc0 #define WD_EN 0x20 #define WD_DIS 0x00 #define WD_DLY_10ms 0x00 #define WD_DLY_20ms 0x08 #define WD_DLY_50ms 0x10 #define WD_DLY_100ms 0x18 #define IDRIVE_000 0x00 #define IDRIVE_001 0x01 #define IDRIVE_010 0x02 #define IDRIVE_011 0x03 #define IDRIVE_100 0x04 #define IDRIVE_101 0x05 #define IDRIVE_110 0x06 #define IDRIVE_111 0x07 //REG_VDSControl #define SO_LIM_DEF 0x00 #define SO_LIM_3_6V 0x80 #define VDS_0_06V 0x00 //0.06V #define VDS_0_145V 0x10 #define VDS_0_17V 0x20 #define VDS_0_2V 0x30 #define VDS_0_12V 0x40 #define VDS_0_24V 0x50 #define VDS_0_48V 0x60 #define VDS_0_96V 0x70 #define DIS_H2_VDS 0x00 #define EN_H2_VDS 0x08 #define DIS_L2_VDS 0x00 #define EN_L2_VDS 0x04 #define DIS_H1_VDS 0x00 #define EN_H1_VDS 0x02 #define DIS_L1_VDS 0x00 #define EN_L1_VDS 0x01 //REG_ConfigControl #define TOFF_25us 0x00 #define TOFF_50us 0x40 #define TOFF_100us 0x80 #define TOFF_200us 0xc0 #define CHOP_IDS_DIS 0x00 #define CHOP_IDS_EN 0x20 #define VREF_SCL_100 0x00 #define VREF_SCL_75 0x08 #define VREF_SCL_50 0x10 #define VREF_SCL_25 0x18 #define SH_DIS 0x00 #define SH_EN 0x04 #define GAIN_CS_10 0x00 #define GAIN_CS_19_8 0x01 #define GAIN_CS_39_4 0x02 #define GAIN_CS_78 0x03 void DR70x_Init(void); void DR70x_Mode0_Brake(void); void DR70x_Mode0_Reverse(uint8_t pulse); void DR70x_Mode0_Forward(uint8_t pulse); void DR70x_Transmit(uint8_t addess, uint8_t data); uint8_t DR70x_Recive(uint8_t addess); #endif
类比半导体电机驱动芯片代码