Arduino-facing DRV8704 device driver class. More...

#include <drv8704.h>

Public Member Functions
bool	applyConfig (const DRV8704Config &config)
	Apply a high-level configuration snapshot to the device. More...

bool	begin ()
	Initialize GPIO and SPI state for the device. More...

bool	beginPwmMode (const DRV8704PwmConfig &config=DRV8704PwmConfig())
	Enable board-specific PWM generation for the DRV8704 input pins. More...

void	brake (BridgeId bridge)
	Drive one bridge to brake. More...

DRV8704BridgeState	bridgeState (BridgeId bridge) const
	Return the stored direction/runtime-state report for one bridge. More...

uint16_t	cachedRegister (uint8_t address) const
	Return the cached contents of a register. More...

bool	clearFault (FaultBit bit)
	Clear one fault bit in the STATUS register. More...

bool	clearFaults ()
	Clear all clearable fault bits in the STATUS register. More...

void	coast (BridgeId bridge)
	Drive one bridge to coast. More...

DRV8704CurrentLimitResult	currentLimitResult () const
	Return the most recent derived chip-global current-limit settings. More...

DRV8704CurrentPresetConfig	currentModePresetConfig () const
	Return the preset configuration currently selected for current-limit operation. More...

Direction	direction (BridgeId bridge) const
	Return the configured high-level direction for one bridge. More...

bool	disableCurrentLimit ()
	Disable the high-level current-limit configuration without forcing a bridge-state change. More...

	DRV8704 (const DRV8704Pins &pins, SPIClass &spi=SPI)
	Construct a DRV8704 device instance. More...

bool	enableBridgeDriver (bool enabled)
	Enable or disable the bridge driver through the CTRL register. More...

void	end ()
	End driver operation. More...

void	endPwmMode ()
	Disable platform PWM generation and return bridge inputs to coast. More...

bool	hasFault ()
	Check whether any reported fault bit is active. More...

bool	hasFaultPin () const
	Report whether a dedicated `FAULTn` pin was provided. More...

DRV8704HealthCheck	healthCheck ()
	Perform a minimal transport/status health check. More...

bool	isCurrentLimitEnabled () const
	Return whether a high-level current limit is currently configured. More...

bool	isFaultPinActive () const
	Read the state of the optional `FAULTn` pin. More...

bool	isInitialized () const
	Report whether the driver completed initialization. More...

bool	isPwmModeEnabled () const
	Return whether PWM mode is currently active. More...

DRV8704PwmCapability	pwmCapability () const
	Return the resolved capability of the active PWM backend. More...

uint16_t	readRegister (RegisterAddress address)
	Read a register by symbolic address. More...

uint16_t	readRegister (uint8_t address)
	Read a 12-bit register payload from the device. More...

DRV8704Status	readStatus ()
	Read and decode the STATUS register. More...

void	reset ()
	Pulse the reset pin when available. More...

bool	setBlankTime (uint8_t blankTime)
	Set the current blanking time. More...

void	setBridgeMode (BridgeId bridge, BridgeMode mode)
	Low-level static bridge helper retained for compatibility. More...

bool	setCurrent (BridgeId bridge, Direction direction, float amps)
	Compatibility overload retained during the control-model refactor. More...

bool	setCurrent (BridgeId bridge, float amps)
	Program the chip for current drive on one bridge using the stored direction. More...

bool	setCurrentLimit (float amps)
	Program the chip-global current limit in amperes without changing bridge state. More...

bool	setCurrentModePreset (CurrentModePreset preset)
	Select the predefined timing and decay preset used by current mode. More...

bool	setDeadTime (DeadTime deadTime)
	Set the bridge dead time. More...

bool	setDecayMode (DecayMode mode)
	Set the decay mode. More...

bool	setDecayTime (uint8_t decayTime)
	Set the mixed-decay transition time. More...

bool	setDirection (BridgeId bridge, Direction direction)
	Set the direction used by high-level current-drive and PWM-drive commands. More...

bool	setGateDrive (const GateDriveConfig &gateDrive)
	Apply the complete DRIVE register configuration. More...

bool	setGateDriveCurrents (GateDriveSinkCurrent iDriveN, GateDriveSourceCurrent iDriveP)
	Set the gate-drive current fields. More...

bool	setGateDriveTimes (GateDriveTime tDriveN, GateDriveTime tDriveP)
	Set the gate-drive timing fields. More...

bool	setOcpDeglitch (OcpDeglitch deglitch)
	Set the overcurrent deglitch interval. More...

bool	setOcpThreshold (OcpThreshold threshold)
	Set the overcurrent threshold. More...

bool	setOffTime (uint8_t offTime)
	Set the fixed PWM off time. More...

bool	setPwmFrequency (uint32_t frequencyHz)
	Update the requested PWM frequency. More...

bool	setSenseGain (SenseGain gain)
	Set the current-sense amplifier gain. More...

bool	setShuntResistance (BridgeId bridge, float ohms)
	Set the shunt resistance for one bridge in current mode. More...

bool	setShuntResistance (float ohms)
	Set one shunt resistance value for both bridges in current mode. More...

bool	setSpeed (BridgeId bridge, Direction direction, float speedPercent)
	Compatibility overload retained during the control-model refactor. More...

bool	setSpeed (BridgeId bridge, float speedPercent)
	Apply an open-loop speed command to one bridge using hardware PWM. More...

bool	setTorque (uint8_t torque)
	Set the torque DAC value. More...

void	sleep ()
	Put the DRV8704 into sleep mode when the sleep pin is available. More...

float	smallestDutyIncrementPercent () const
	Return the smallest duty-percent step of the active PWM backend. More...

bool	syncRegisterCache ()
	Refresh the local register cache from device reads. More...

bool	updateRegister (RegisterAddress address, uint16_t mask, uint16_t value)
	Update selected register bits using a symbolic address. More...

bool	updateRegister (uint8_t address, uint16_t mask, uint16_t value)
	Update selected register bits while preserving other bits. More...

void	wake ()
	Bring the DRV8704 out of sleep mode when the sleep pin is available. More...

bool	writeRegister (RegisterAddress address, uint16_t value)
	Write a register by symbolic address. More...

bool	writeRegister (uint8_t address, uint16_t value)
	Write a 12-bit register payload to the device. More...

Detailed Description

Arduino-facing DRV8704 device driver class.

Constructor & Destructor Documentation

◆ DRV8704()

DRV8704::DRV8704	(	const DRV8704Pins &	pins,
		SPIClass &	spi = `SPI`
	)

explicit

Construct a DRV8704 device instance.

Parameters

pins	Pin assignment bundle for this device.
spi	SPI bus instance to use for transfers.

Member Function Documentation

◆ applyConfig()

bool DRV8704::applyConfig ( const DRV8704Config & config )

Apply a high-level configuration snapshot to the device.

Parameters

config Desired driver configuration.

Returns: True if the configuration sequence completed.

◆ begin()

bool DRV8704::begin ( )

Initialize GPIO and SPI state for the device.

Returns: True if startup completed without transport failure.

◆ beginPwmMode()

bool DRV8704::beginPwmMode ( const DRV8704PwmConfig & config = DRV8704PwmConfig() )

Enable board-specific PWM generation for the DRV8704 input pins.

Parameters

config Requested PWM frequency and duty resolution.

Returns: True when a supported PWM backend was initialized.

◆ brake()

void DRV8704::brake ( BridgeId bridge )

Drive one bridge to brake.

Parameters

bridge Bridge selector.

◆ bridgeState()

DRV8704BridgeState DRV8704::bridgeState ( BridgeId bridge ) const

Return the stored direction/runtime-state report for one bridge.

Parameters

bridge Bridge selector.

Returns: Bridge runtime state report.

◆ cachedRegister()

uint16_t DRV8704::cachedRegister ( uint8_t address ) const

Return the cached contents of a register.

Parameters

address Register address.

Returns: Cached register payload or 0 for an invalid address.

◆ clearFault()

bool DRV8704::clearFault ( FaultBit bit )

Clear one fault bit in the STATUS register.

Parameters

bit	Fault bit selector.

Returns: True if the clear write completed.

◆ clearFaults()

bool DRV8704::clearFaults ( )

Clear all clearable fault bits in the STATUS register.

Returns: True if the clear write completed.

◆ coast()

void DRV8704::coast ( BridgeId bridge )

Drive one bridge to coast.

Parameters

bridge Bridge selector.

◆ currentLimitResult()

DRV8704CurrentLimitResult DRV8704::currentLimitResult ( ) const

inline

Return the most recent derived chip-global current-limit settings.

Returns: Current-limit result structure.

◆ currentModePresetConfig()

DRV8704CurrentPresetConfig DRV8704::currentModePresetConfig ( ) const

inline

Return the preset configuration currently selected for current-limit operation.

Returns: Current-limit preset settings.

◆ direction()

Direction DRV8704::direction ( BridgeId bridge ) const

Return the configured high-level direction for one bridge.

Parameters

bridge Bridge selector.

Returns: Stored bridge direction.

◆ disableCurrentLimit()

bool DRV8704::disableCurrentLimit ( )

Disable the high-level current-limit configuration without forcing a bridge-state change.

Returns: True when the high-level current-limit state was cleared.

The implementation programs the maximum representable current limit and clears the high-level bookkeeping so future PWM-current-limit commands require a deliberate limit request.

◆ enableBridgeDriver()

bool DRV8704::enableBridgeDriver ( bool enabled )

Enable or disable the bridge driver through the CTRL register.

Parameters

enabled True to enable bridge drive.

Returns: True if the operation completed.

◆ end()

void DRV8704::end ( )

End driver operation.

◆ endPwmMode()

void DRV8704::endPwmMode ( )

Disable platform PWM generation and return bridge inputs to coast.

◆ hasFault()

bool DRV8704::hasFault ( )

Check whether any reported fault bit is active.

Returns: True if a fault is reported.

◆ hasFaultPin()

bool DRV8704::hasFaultPin ( ) const

inline

Report whether a dedicated FAULTn pin was provided.

Returns: True if the device instance can monitor the hardware fault pin.

◆ healthCheck()

DRV8704HealthCheck DRV8704::healthCheck ( )

Perform a minimal transport/status health check.

Returns: Health-check result.

◆ isCurrentLimitEnabled()

bool DRV8704::isCurrentLimitEnabled ( ) const

inline

Return whether a high-level current limit is currently configured.

Returns: True when current-limit settings are armed for current-drive or PWM-current-limit use.

◆ isFaultPinActive()

bool DRV8704::isFaultPinActive ( ) const

Read the state of the optional FAULTn pin.

Returns: True when the open-drain fault pin is asserted low.

◆ isInitialized()

bool DRV8704::isInitialized ( ) const

inline

Report whether the driver completed initialization.

Returns: True if begin() completed successfully.

◆ isPwmModeEnabled()

bool DRV8704::isPwmModeEnabled ( ) const

inline

Return whether PWM mode is currently active.

Returns: True when a supported PWM backend is enabled.

◆ pwmCapability()

DRV8704PwmCapability DRV8704::pwmCapability ( ) const

inline

Return the resolved capability of the active PWM backend.

Returns: Active PWM capability report.

◆ readRegister() [1/2]

uint16_t DRV8704::readRegister ( RegisterAddress address )

inline

Read a register by symbolic address.

Parameters

address Register address enum.

Returns: Register payload masked to 12 bits.

◆ readRegister() [2/2]

uint16_t DRV8704::readRegister ( uint8_t address )

Read a 12-bit register payload from the device.

Parameters

address Register address.

Returns: Register payload masked to 12 bits.

◆ readStatus()

DRV8704Status DRV8704::readStatus ( )

Read and decode the STATUS register.

Returns: Decoded status structure.

◆ reset()

void DRV8704::reset ( )

Pulse the reset pin when available.

◆ setBlankTime()

bool DRV8704::setBlankTime ( uint8_t blankTime )

Set the current blanking time.

Parameters

blankTime BLANK register TBLANK value.

Returns: True if the register update and readback verification completed.

◆ setBridgeMode()

void DRV8704::setBridgeMode	(	BridgeId	bridge,
		BridgeMode	mode
	)

Low-level static bridge helper retained for compatibility.

Parameters

bridge	Bridge selector.
mode	Static bridge mode.

◆ setCurrent() [1/2]

bool DRV8704::setCurrent	(	BridgeId	bridge,
		Direction	direction,
		float	amps
	)

inline

Compatibility overload retained during the control-model refactor.

Parameters

bridge	Bridge selector.
direction	Desired bridge direction.
amps	Requested current in amperes.

Returns: True when the request was applied.

◆ setCurrent() [2/2]

bool DRV8704::setCurrent	(	BridgeId	bridge,
		float	amps
	)

Program the chip for current drive on one bridge using the stored direction.

Parameters

bridge	Bridge selector.
amps	Requested current limit in amperes.

Returns: True when the current-limit request was valid and the bridge entered current drive.

◆ setCurrentLimit()

bool DRV8704::setCurrentLimit ( float amps )

Program the chip-global current limit in amperes without changing bridge state.

Parameters

amps	Requested current limit in amperes.

Returns: True when the requested limit was derived and programmed successfully.

◆ setCurrentModePreset()

bool DRV8704::setCurrentModePreset ( CurrentModePreset preset )

Select the predefined timing and decay preset used by current mode.

Parameters

preset Preset family to apply.

Returns: True when the preset configuration was written successfully.

◆ setDeadTime()

bool DRV8704::setDeadTime ( DeadTime deadTime )

Set the bridge dead time.

Parameters

deadTime Desired dead-time setting.

Returns: True if the register update and readback verification completed.

◆ setDecayMode()

bool DRV8704::setDecayMode ( DecayMode mode )

Set the decay mode.

Parameters

mode	Desired decay mode.

Returns: True if the register update and readback verification completed.

◆ setDecayTime()

bool DRV8704::setDecayTime ( uint8_t decayTime )

Set the mixed-decay transition time.

Parameters

decayTime DECAY register TDECAY value.

Returns: True if the register update and readback verification completed.

◆ setDirection()

bool DRV8704::setDirection	(	BridgeId	bridge,
		Direction	direction
	)

Set the direction used by high-level current-drive and PWM-drive commands.

Parameters

bridge	Bridge selector.
direction	Desired bridge direction.

Returns: True when the bridge direction was accepted.

◆ setGateDrive()

bool DRV8704::setGateDrive ( const GateDriveConfig & gateDrive )

Apply the complete DRIVE register configuration.

Parameters

gateDrive Desired gate-drive configuration.

Returns: True if the register write and readback verification completed.

◆ setGateDriveCurrents()

bool DRV8704::setGateDriveCurrents	(	GateDriveSinkCurrent	iDriveN,
		GateDriveSourceCurrent	iDriveP
	)

Set the gate-drive current fields.

Parameters

iDriveN	Sink current selection.
iDriveP	Source current selection.

Returns: True if the register update and readback verification completed.

◆ setGateDriveTimes()

bool DRV8704::setGateDriveTimes	(	GateDriveTime	tDriveN,
		GateDriveTime	tDriveP
	)

Set the gate-drive timing fields.

Parameters

tDriveN	Sink timing selection.
tDriveP	Source timing selection.

Returns: True if the register update and readback verification completed.

◆ setOcpDeglitch()

bool DRV8704::setOcpDeglitch ( OcpDeglitch deglitch )

Set the overcurrent deglitch interval.

Parameters

deglitch Desired OCP deglitch setting.

Returns: True if the register update and readback verification completed.

◆ setOcpThreshold()

bool DRV8704::setOcpThreshold ( OcpThreshold threshold )

Set the overcurrent threshold.

Parameters

threshold Desired OCP threshold.

Returns: True if the register update and readback verification completed.

◆ setOffTime()

bool DRV8704::setOffTime ( uint8_t offTime )

Set the fixed PWM off time.

Parameters

offTime OFF register TOFF value.

Returns: True if the register update and readback verification completed.

◆ setPwmFrequency()

bool DRV8704::setPwmFrequency ( uint32_t frequencyHz )

Update the requested PWM frequency.

Parameters

frequencyHz Requested PWM frequency in hertz.

Returns: True when the active backend accepted the new frequency.

◆ setSenseGain()

bool DRV8704::setSenseGain ( SenseGain gain )

Set the current-sense amplifier gain.

Parameters

gain	Desired sense amplifier gain.

Returns: True if the register update and readback verification completed.

◆ setShuntResistance() [1/2]

bool DRV8704::setShuntResistance	(	BridgeId	bridge,
		float	ohms
	)

Set the shunt resistance for one bridge in current mode.

Parameters

bridge	Bridge selector.
ohms	Sense resistor value in ohms.

Returns: True when the provided value is valid.

◆ setShuntResistance() [2/2]

bool DRV8704::setShuntResistance ( float ohms )

Set one shunt resistance value for both bridges in current mode.

Parameters

ohms	Sense resistor value in ohms.

Returns: True when the provided value is valid.

◆ setSpeed() [1/2]

bool DRV8704::setSpeed	(	BridgeId	bridge,
		Direction	direction,
		float	speedPercent
	)

inline

Compatibility overload retained during the control-model refactor.

Parameters

bridge	Bridge selector.
direction	Desired bridge direction.
speedPercent	Open-loop duty request from 0 to 100 percent.

Returns: True when the requested speed was applied.

◆ setSpeed() [2/2]

bool DRV8704::setSpeed	(	BridgeId	bridge,
		float	speedPercent
	)

Apply an open-loop speed command to one bridge using hardware PWM.

Parameters

bridge	Bridge selector.
speedPercent	Open-loop duty request from 0 to 100 percent.

Returns: True when the requested speed was applied.

This is PWM with current limit. A speed of 0 behaves like coast. A speed of 100 forces a constant-on directional input without PWM toggling. Intermediate values apply hardware PWM using the stored bridge direction.

◆ setTorque()

bool DRV8704::setTorque ( uint8_t torque )

Set the torque DAC value.

Parameters

torque Torque DAC code.

Returns: True if the register update and readback verification completed.

◆ sleep()

void DRV8704::sleep ( )

Put the DRV8704 into sleep mode when the sleep pin is available.

◆ smallestDutyIncrementPercent()

float DRV8704::smallestDutyIncrementPercent ( ) const

inline

Return the smallest duty-percent step of the active PWM backend.

Returns: Smallest achievable duty increment in percent.

◆ syncRegisterCache()

bool DRV8704::syncRegisterCache ( )

Refresh the local register cache from device reads.

Returns: True if all register reads completed.

◆ updateRegister() [1/2]

bool DRV8704::updateRegister	(	RegisterAddress	address,
		uint16_t	mask,
		uint16_t	value
	)

inline

Update selected register bits using a symbolic address.

Parameters

address	Register address enum.
mask	Bit mask for fields to update.
value	New masked field value.

Returns: True if the write transfer completed.

◆ updateRegister() [2/2]

bool DRV8704::updateRegister	(	uint8_t	address,
		uint16_t	mask,
		uint16_t	value
	)

Update selected register bits while preserving other bits.

Parameters

address	Register address.
mask	Bit mask for fields to update.
value	New masked field value.

Returns: True if the write transfer completed.

◆ wake()

void DRV8704::wake ( )

Bring the DRV8704 out of sleep mode when the sleep pin is available.

◆ writeRegister() [1/2]

bool DRV8704::writeRegister	(	RegisterAddress	address,
		uint16_t	value
	)

inline

Write a register by symbolic address.

Parameters

address	Register address enum.
value	Register payload.

Returns: True if the write transfer completed.

◆ writeRegister() [2/2]

bool DRV8704::writeRegister	(	uint8_t	address,
		uint16_t	value
	)

Write a 12-bit register payload to the device.

Parameters

address	Register address.
value	Register payload.

Returns: True if the write transfer completed.

The documentation for this class was generated from the following files:

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ DRV8704()

Member Function Documentation

◆ applyConfig()

◆ begin()

◆ beginPwmMode()

◆ brake()

◆ bridgeState()

◆ cachedRegister()

◆ clearFault()

◆ clearFaults()

◆ coast()

◆ currentLimitResult()

◆ currentModePresetConfig()

◆ direction()

◆ disableCurrentLimit()

◆ enableBridgeDriver()

◆ end()

◆ endPwmMode()

◆ hasFault()

◆ hasFaultPin()

◆ healthCheck()

◆ isCurrentLimitEnabled()

◆ isFaultPinActive()

◆ isInitialized()

◆ isPwmModeEnabled()

◆ pwmCapability()

◆ readRegister() [1/2]

◆ readRegister() [2/2]

◆ readStatus()

◆ reset()

◆ setBlankTime()

◆ setBridgeMode()

◆ setCurrent() [1/2]

◆ setCurrent() [2/2]

◆ setCurrentLimit()

◆ setCurrentModePreset()

◆ setDeadTime()

◆ setDecayMode()

◆ setDecayTime()

◆ setDirection()

◆ setGateDrive()

◆ setGateDriveCurrents()

◆ setGateDriveTimes()

◆ setOcpDeglitch()

◆ setOcpThreshold()

◆ setOffTime()

◆ setPwmFrequency()

◆ setSenseGain()

◆ setShuntResistance() [1/2]

◆ setShuntResistance() [2/2]

◆ setSpeed() [1/2]

◆ setSpeed() [2/2]

◆ setTorque()

◆ sleep()

◆ smallestDutyIncrementPercent()

◆ syncRegisterCache()

◆ updateRegister() [1/2]

◆ updateRegister() [2/2]

◆ wake()

◆ writeRegister() [1/2]

◆ writeRegister() [2/2]