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Merge branch 'feat/add_motor_driver_drv10987' into 'master'
feat(motor): support DRV10987 bldc motor driver in I2C control mode Closes AEG-1661 See merge request ae_group/esp-iot-solution!1052
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| # ChangeLog | ||
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| ## v0.1.0 - 2024-7-23 | ||
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| ### Enhancements: | ||
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| * Initial version |
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| idf_component_register(SRCS "drv10987.c" | ||
| INCLUDE_DIRS "include" | ||
| PRIV_INCLUDE_DIRS "priv_include" | ||
| REQUIRES driver i2c_bus) |
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| # Component: DRV10987 | ||
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| The DRV10987 device is a 3-phase sensorless 180° sinusodial motor driver with integrated power MOSFETs, which can provide continuous drive current up to 2 A. | ||
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| * This component will show you how to read and write DRV10987. | ||
| * Pin assignment: | ||
| * master: | ||
| * GPIO23 is assigned as the data signal of i2c master port. | ||
| * GPIO22 is assigned as the clock signal of i2c master port. | ||
| * GPIO21 is assigned as rotation direction control. | ||
| * connection: | ||
| * Connect sda of drv10987 with GPIO23. | ||
| * Connect scl of drv10987 with GPIO22. | ||
| * Connect dir of drv10987 with GPIO21. | ||
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| ## Startup process | ||
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| It is recommended to program the EEPROM with the motor off and read back the EEPROM to verify that the drive is valid. | ||
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| 1. Power up with any voltage within operating voltage range (6.2 V to 28 V). | ||
| 2. Wait 10 ms. | ||
| 3. Write register 0x60 to set MTR_DIS = 1; this disables the motor driver. | ||
| 4. Write register 0x31 with 0x0000 to clear the EEPROM access code. | ||
| 5. Write register 0x31 with 0xC0DE to enable access to EEPROM. | ||
| 7. Read register 0x32 for eeReadyStatus = 1. | ||
| 8. Case-A: Mass Write: | ||
| 1. Write all individual shadow registers. | ||
| 1. Write register 0x90 (CONFIG1) with CONFIG1 data. | ||
| 2. ... | ||
| 3. Write register 0x96 (CONFIG7) with CONFIG7 data. | ||
| 2. Write the following to register 0x35. | ||
| 1. ShadowRegEn = 0 | ||
| 2. eeRefresh = 0 | ||
| 3. eeWRnEn = 1 | ||
| 4. EEPROM Access Mode = 10 | ||
| 3. Wait for register 0x32 eeReadyStatus = 1 – EEPROM is now updated with the contents of the shadow registers. | ||
| 9. Case-B: Mass Read： | ||
| 1. Write the following to register 0x35. | ||
| 1. ShadowRegEn = 0 | ||
| 2. eeRefresh = 0 | ||
| 3. eeWRnEn =0 | ||
| 4. eeAccMode = 10 | ||
| 2. Internally, the device starts reading the EEPROM and storing it in the shadow registers. | ||
| 3. Wait for register 0x32 eeReadyStatus = 1 – shadow registers now contain the EEPROM values. | ||
| 10. Write register 0x60 to set MTR_DIS = 0; this re-enables the motor driver. | ||
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| More detailed data can be found in the [DRV10987 Datasheet](https://www.ti.com/lit/gpn/drv10987). | ||
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| ## Example of DRV10987 usage | ||
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| The `drv10987` component provides a simplified encapsulation of the above process, enabling users to drive drv10987 faster. | ||
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| It is worth noting that the `drv10987` component provides default configuration entries for the configuration registers, but for different motors it is necessary to **modify the rm and kt** of the default configuration entries for config1 and config2. | ||
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| ```c | ||
| static i2c_bus_handle_t i2c_bus = NULL; | ||
| static drv10987_handle_t drv10987 = NULL; | ||
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| //Step1：Init I2C bus | ||
| i2c_config_t conf = { | ||
| .mode = I2C_MODE_MASTER, | ||
| .sda_io_num = I2C_MASTER_SDA_IO, | ||
| .sda_pullup_en = GPIO_PULLUP_ENABLE, | ||
| .scl_io_num = I2C_MASTER_SCL_IO, | ||
| .scl_pullup_en = GPIO_PULLUP_ENABLE, | ||
| .master.clk_speed = I2C_MASTER_FREQ_HZ, | ||
| }; | ||
| i2c_bus = i2c_bus_create(I2C_MASTER_NUM, &conf); | ||
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| //Step2：Init drv10987 | ||
| drv10987_config_t drv10987_cfg = { | ||
| .bus = i2c_bus, | ||
| .dev_addr = DRV10987_I2C_ADDRESS_DEFAULT, | ||
| .dir_pin = DIRECTION_IO, | ||
| }; | ||
| esp_err_t err = drv10987_create(&drv10987, &drv10987_cfg); | ||
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| //Step3：Set the direction of motor rotation | ||
| drv10987_set_direction_uvw(drv10987); | ||
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| //Step4：Enable access to EEPROM and check if EEPROM is ready for read/write access. | ||
| drv10987_write_access_to_eeprom(drv10987, 5); | ||
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| //Step5：Write configuration to EEPROM | ||
| //The component provides a default configuration, for different brushless motors it is necessary to configure Rm and Kt in config1 and config2. | ||
| drv10987_config1_t config1 = DEFAULT_DRV10987_CONFIG1; | ||
| drv10987_write_config_register(drv10987, CONFIG1_REGISTER_ADDR, &config1); | ||
| drv10987_config2_t config2 = DEFAULT_DRV10987_CONFIG2; | ||
| drv10987_write_config_register(drv10987, CONFIG2_REGISTER_ADDR, &config2); | ||
| drv10987_config3_t config3 = DEFAULT_DRV10987_CONFIG3; | ||
| drv10987_write_config_register(drv10987, CONFIG3_REGISTER_ADDR, &config3); | ||
| drv10987_config4_t config4 = DEFAULT_DRV10987_CONFIG4; | ||
| drv10987_write_config_register(drv10987, CONFIG4_REGISTER_ADDR, &config4); | ||
| drv10987_config5_t config5 = DEFAULT_DRV10987_CONFIG5; | ||
| drv10987_write_config_register(drv10987, CONFIG5_REGISTER_ADDR, &config5); | ||
| drv10987_config6_t config6 = DEFAULT_DRV10987_CONFIG6; | ||
| drv10987_write_config_register(drv10987, CONFIG6_REGISTER_ADDR, &config6); | ||
| drv10987_config7_t config7 = DEFAULT_DRV10987_CONFIG7; | ||
| drv10987_write_config_register(drv10987, CONFIG7_REGISTER_ADDR, &config7); | ||
| drv10987_mass_write_acess_to_eeprom(drv10987); | ||
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| //Step6：Waiting for eeprom status to be ready | ||
| while (1) { | ||
| if (drv10987_read_eeprom_status(drv10987) == EEPROM_READY) { | ||
| break; | ||
| } | ||
| } | ||
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| //Step7 Write motor speed and start drv10987 | ||
| drv10987_enable_control(drv10987); | ||
| drv10987_write_speed(drv10987, CONFIG_EXAMPLE_MOROT_SPEED); | ||
| drv10987_enable_control(drv10987); | ||
| ``` |
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