Arduino_DRV8704/drv8704__defs_8h_source.html

#ifndef DRV8704_DEFS_H

#define DRV8704_DEFS_H


#include <stdint.h>

#include <SPI.h>


#define DRV8704_SPI_SPEED 1000000U

#define DRV8704_SPI_MODE  SPI_MODE0

#define DRV8704_SPI_ORDER MSBFIRST


#define DRV8704_WAKE_DELAY_US          1000U

#define DRV8704_RESET_PULSE_WIDTH_US   10U

#define DRV8704_RESET_RECOVERY_US      10U


#define DRV8704_MIN_INPUT_PWM_HZ       100U

#define DRV8704_MAX_INPUT_PWM_HZ       500000U

#define DRV8704_DEFAULT_INPUT_PWM_HZ   5000U

#define DRV8704_DEFAULT_PWM_RES_BITS   10U

#define DRV8704_MAX_PWM_RES_BITS       16U


#define DRV8704_REG_CTRL      0x00U

#define DRV8704_REG_TORQUE    0x01U

#define DRV8704_REG_OFF       0x02U

#define DRV8704_REG_BLANK     0x03U

#define DRV8704_REG_DECAY     0x04U

#define DRV8704_REG_RESERVED  0x05U

#define DRV8704_REG_DRIVE     0x06U

#define DRV8704_REG_STATUS    0x07U


#define DRV8704_REGISTER_COUNT 8U

#define DRV8704_REGISTER_MASK  0x0FFFU

#define DRV8704_ADDRESS_MASK   0x0007U

#define DRV8704_ADDRESS_SHIFT  12U

#define DRV8704_READ_BIT       0x8000U

#define DRV8704_WRITE_BIT      0x0000U


#define DRV8704_CTRL_DEFAULT   0x0301U

#define DRV8704_TORQUE_DEFAULT 0x00FFU

#define DRV8704_OFF_DEFAULT    0x0130U

#define DRV8704_BLANK_DEFAULT  0x0080U

#define DRV8704_DECAY_DEFAULT  0x0010U

#define DRV8704_DRIVE_DEFAULT  0x0FA5U

#define DRV8704_STATUS_DEFAULT 0x0000U


#define DRV8704_CTRL_ENBL_SHIFT    0U

#define DRV8704_CTRL_ENBL_MASK     0x0001U

#define DRV8704_CTRL_ISGAIN_SHIFT  8U

#define DRV8704_CTRL_ISGAIN_MASK   0x0300U

#define DRV8704_CTRL_DTIME_SHIFT   10U

#define DRV8704_CTRL_DTIME_MASK    0x0C00U


#define DRV8704_TORQUE_SHIFT       0U

#define DRV8704_TORQUE_MASK        0x00FFU


#define DRV8704_OFF_TOFF_SHIFT     0U

#define DRV8704_OFF_TOFF_MASK      0x00FFU

#define DRV8704_OFF_PWMMODE_SHIFT  8U

#define DRV8704_OFF_PWMMODE_MASK   0x0100U

#define DRV8704_OFF_PWMMODE_PWM    0x0100U


#define DRV8704_BLANK_TBLANK_SHIFT 0U

#define DRV8704_BLANK_TBLANK_MASK  0x00FFU


#define DRV8704_DECAY_TDECAY_SHIFT 0U

#define DRV8704_DECAY_TDECAY_MASK  0x00FFU

#define DRV8704_DECAY_DECMOD_SHIFT 8U

#define DRV8704_DECAY_DECMOD_MASK  0x0700U


#define DRV8704_DRIVE_OCPTH_SHIFT    0U

#define DRV8704_DRIVE_OCPTH_MASK     0x0003U

#define DRV8704_DRIVE_OCPDEG_SHIFT   2U

#define DRV8704_DRIVE_OCPDEG_MASK    0x000CU

#define DRV8704_DRIVE_TDRIVEN_SHIFT  4U

#define DRV8704_DRIVE_TDRIVEN_MASK   0x0030U

#define DRV8704_DRIVE_TDRIVEP_SHIFT  6U

#define DRV8704_DRIVE_TDRIVEP_MASK   0x00C0U

#define DRV8704_DRIVE_IDRIVEN_SHIFT  8U

#define DRV8704_DRIVE_IDRIVEN_MASK   0x0300U

#define DRV8704_DRIVE_IDRIVEP_SHIFT  10U

#define DRV8704_DRIVE_IDRIVEP_MASK   0x0C00U


#define DRV8704_STATUS_OTS_MASK   0x0001U

#define DRV8704_STATUS_AOCP_MASK  0x0002U

#define DRV8704_STATUS_BOCP_MASK  0x0004U

#define DRV8704_STATUS_APDF_MASK  0x0008U

#define DRV8704_STATUS_BPDF_MASK  0x0010U

#define DRV8704_STATUS_UVLO_MASK  0x0020U

#define DRV8704_STATUS_FAULT_MASK 0x003FU


#define DRV8704_STATUS_OTS_SHIFT  0U

#define DRV8704_STATUS_AOCP_SHIFT 1U

#define DRV8704_STATUS_BOCP_SHIFT 2U

#define DRV8704_STATUS_APDF_SHIFT 3U

#define DRV8704_STATUS_BPDF_SHIFT 4U

#define DRV8704_STATUS_UVLO_SHIFT 5U


#endif // DRV8704_DEFS_H